diff --git a/README.md b/README.md
index 003afe93..679ef401 100644
--- a/README.md
+++ b/README.md
@@ -2,12 +2,6 @@
This repository contains code for the feeding web app. The app itself is in `feedingwebapp`. ROS nodes used to test the app are in `feeding_web_app_ros2_test`, and messages for those ROS nodes are in `feeding_web_app_ros2_msgs`. Each directory contains its own README.
-## ROS Dependencies
-- [ROS2 Humble](https://docs.ros.org/en/humble/Installation.html)
-- [PRL fork of rosbridge_suite](https://github.com/personalrobotics/rosbridge_suite). This fork enables rosbridge_suite to communicate with ROS2 actions.
-- [ada_feeding (branch: `ros2-devel`)](https://github.com/personalrobotics/ada_feeding/tree/ros2-devel).
-- [web_video_server (branch: `ros2`)](https://github.com/RobotWebTools/web_video_server/tree/ros2)
- - Dependency: `ros-humble-async-web-server-cpp`
- - Dependency: `ros-humble-vision-opencv`
-
-All these repositories of `feeding_web_interface`, `ada_feeding`, `async_web_server_cpp`, `vision_opencv`, `web_video_server`, and `PRL fork of rosbridge_suite` as mentioned above should be downloaded using `git clone ...` in the "src" folder inside the ROS2 workspace. Please follow the [Ubuntu (Debian) tutorial](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) for ROS2 installation in Ubuntu 22, which will automatically lead to creation of "src" folder in ROS2 workspace. To access hidden `.env` file in Ubuntu to change the debug flag's value, press Ctrl + H in the `feeding_web_interface` folder.
+## Setup
+
+See the [`ada_feeding` top-level README for setup instructions](https://github.com/personalrobotics/ada_feeding/blob/ros2-devel/README.md).
diff --git a/feeding_web_app_ros2_test/README.md b/feeding_web_app_ros2_test/README.md
index 5ef320d9..85cf9d0b 100644
--- a/feeding_web_app_ros2_test/README.md
+++ b/feeding_web_app_ros2_test/README.md
@@ -2,12 +2,9 @@
This directory contains all the ROS2 nodes that are used to test the web app. This includes: (1) dummy nodes that have the same interface as robot nodes, but actually just sleep; and (2) nodes for the "Test ROS" page of the web app, which demonstrates how to use our ROS helper functions.
-## Dependencies
-- [ROS2 Humble](https://docs.ros.org/en/humble/Installation.html)
-- Python dependencies:
-```
-python3 -m pip install numpy pymongo shapely tornado
-```
+## Setup
+
+See the [`ada_feeding` top-level README for setup instructions](https://github.com/personalrobotics/ada_feeding/blob/ros2-devel/README.md).
## Usage
diff --git a/feeding_web_app_ros2_test/feeding_web_app_ros2_test/MoveFromMouth.py b/feeding_web_app_ros2_test/feeding_web_app_ros2_test/MoveFromMouth.py
new file mode 100644
index 00000000..e7ca36dc
--- /dev/null
+++ b/feeding_web_app_ros2_test/feeding_web_app_ros2_test/MoveFromMouth.py
@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+from ada_feeding_msgs.action import MoveTo
+from feeding_web_app_ros2_test.MoveToDummy import MoveToDummy
+import rclpy
+from rclpy.executors import MultiThreadedExecutor
+
+
+def main(args=None):
+ rclpy.init(args=args)
+
+ move_from_mouth = MoveToDummy("MoveFromMouth", MoveTo)
+
+ # Use a MultiThreadedExecutor to enable processing goals concurrently
+ executor = MultiThreadedExecutor()
+
+ rclpy.spin(move_from_mouth, executor=executor)
+
+
+if __name__ == "__main__":
+ main()
diff --git a/feeding_web_app_ros2_test/launch/feeding_web_app_dummy_nodes_launch.xml b/feeding_web_app_ros2_test/launch/feeding_web_app_dummy_nodes_launch.xml
index 8822777a..88204feb 100644
--- a/feeding_web_app_ros2_test/launch/feeding_web_app_dummy_nodes_launch.xml
+++ b/feeding_web_app_ros2_test/launch/feeding_web_app_dummy_nodes_launch.xml
@@ -49,6 +49,8 @@
+
+
@@ -59,4 +61,4 @@
-
\ No newline at end of file
+
diff --git a/feeding_web_app_ros2_test/setup.py b/feeding_web_app_ros2_test/setup.py
index b3b784d4..de7ca981 100644
--- a/feeding_web_app_ros2_test/setup.py
+++ b/feeding_web_app_ros2_test/setup.py
@@ -40,6 +40,7 @@
"MoveToRestingPosition = feeding_web_app_ros2_test.MoveToRestingPosition:main",
"MoveToStagingConfiguration = feeding_web_app_ros2_test.MoveToStagingConfiguration:main",
"MoveToMouth = feeding_web_app_ros2_test.MoveToMouth:main",
+ "MoveFromMouth = feeding_web_app_ros2_test.MoveFromMouth:main",
"MoveFromMouthToStagingConfiguration = feeding_web_app_ros2_test.MoveFromMouthToStagingConfiguration:main",
"MoveFromMouthToAbovePlate = feeding_web_app_ros2_test.MoveFromMouthToAbovePlate:main",
"MoveFromMouthToRestingPosition = feeding_web_app_ros2_test.MoveFromMouthToRestingPosition:main",
diff --git a/feedingwebapp/README.md b/feedingwebapp/README.md
index 810b1002..9d370b4b 100644
--- a/feedingwebapp/README.md
+++ b/feedingwebapp/README.md
@@ -2,19 +2,21 @@
This directory contains the web app that users use to interact with the robot-assisted feeding system. This readme includes an overview and contribution guidelines, while [TechDocumentation.md](https://github.com/personalrobotics/feeding_web_interface/tree/main/feedingwebapp/TechDocumentation.md) includes more specific documentation of the technical aspects of the app.
+## Setup
+
+See the [`ada_feeding` top-level README for setup instructions](https://github.com/personalrobotics/ada_feeding/blob/ros2-devel/README.md).
+
## Overview
-The overall user flow for this robot can be seen below.
+The _nominal_ user flow for this web app can be seen below.
-
-(Last Updated 2023/03/07)
+
+(Last Updated 2024/02/14)
+
+
-## Dependencies
-- [Node.js](https://nodejs.org/en/download/package-manager)
-- [`serve` must be globally installed](https://create-react-app.dev/docs/deployment/) (ideally with `sudo`): `sudo npm install -g serve`
-- [`pm2` must be globally installed](https://pm2.keymetrics.io/docs/usage/quick-start/): `npm install pm2@latest -g`
-
## Getting Started in Computer
### Installation