added moveit doc

lbr_demos/doc/lbr_demos.rst

@@ -24,9 +24,12 @@ Advanced
     lbr_demos_advanced_cpp <../lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst>
     lbr_demos_advanced_py <../lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst>
 
-MoveIt 2
---------------
-TODO moveit simple action client demos
+MoveIt 
+-------
+.. toctree::
+    :titlesonly:
+
+    lbr_moveit2_py <../lbr_moveit_py/doc/lbr_moveit_py.rst>
 
 Integration
 -----------

lbr_demos/lbr_moveit_py/doc/lbr_moveit_py.rst

@@ -0,0 +1,42 @@
+lbr_demos_moveit_py
+===================
+.. warning::
+    On hardware, do always execute in ``T1`` mode first.
+
+MoveIt via RViZ
+-----------------
+.. image:: img/iiwa7_moveit_rviz.png
+    :align: center
+    :alt: MoveIt via RViZ
+**IIWA 7 R800 in RViZ**
+
+To run MoveIt via RViZ, simply follow:
+
+#. Client side configurations:
+
+    #. Configure the ``client_command_mode`` to ``position`` in `lbr_system_parameters.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_ros2_control/config/lbr_system_parameters.yaml>`_:octicon:`link-external`
+    #. Set the ``update_rate`` to ``100`` in `lbr_controllers.yaml <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_ros2_control/config/lbr_controllers.yaml>`_:octicon:`link-external`
+
+#. Remote side configurations:
+
+    #. .. dropdown:: Launch the ``LBRServer`` application on the ``KUKA smartPAD``
+
+        .. thumbnail:: ../../doc/img/applications_lbr_server.png
+
+    #. Select
+
+        - ``FRI send period``: ``10 ms``
+        - ``IP address``: ``your configuration``
+        - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL``
+        - ``FRI client command mode``: ``POSITION``
+
+#. Run the robot driver:
+
+    .. code-block:: bash
+
+        ros2 launch lbr_bringup bringup.launch.py \
+            moveit:=true \
+            sim:=false \
+            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+
+#. You can now move the robot via MoveIt in RViZ!