removed sim flag from doc

lbr_bringup/doc/lbr_bringup.rst

@@ -34,7 +34,7 @@ The launch files can also be run via the command line, as further described belo
 
 Launch Files
 ------------
-Launch a Mock Setup
+Mock Setup
 ~~~~~~~~~~
 Useful for running a physics-free simulation of the system. This launch file will (see `mock.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_bringup/launch/mock.launch.py>`_:octicon:`link-external`):
 
@@ -50,8 +50,8 @@ Useful for running a physics-free simulation of the system. This launch file wil
 .. note::
     List all arguments for the launch file via ``ros2 launch lbr_bringup mock.launch.py -s``.
 
-Launch the Gazebo Simulation
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Gazebo Simulation
+~~~~~~~~~~~~~~~~~
 Useful for running a physics simulation the the system. This launch file will will (see `gazebo.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_bringup/launch/gazebo.launch.py>`_:octicon:`link-external`):
 
 #. Start the ``robot_state_publisher``
@@ -67,8 +67,8 @@ Useful for running a physics simulation the the system. This launch file will wi
 .. note::
     List all arguments for the launch file via ``ros2 launch lbr_bringup gazebo.launch.py -s``.
 
-Launch Hardware
-~~~~~~~~~~~~~~~
+Hardware
+~~~~~~~~
 .. warning::
     Do always execute in ``T1`` mode first.
 
@@ -104,8 +104,8 @@ Launch Hardware
     .. note::
         List all arguments for the launch file via ``ros2 launch lbr_bringup hardware.launch.py -s``.
 
-Launch RViz
-~~~~~~~~~~~
+RViz
+~~~~
 This launch file will spin up ``RViz`` for visualization. It will (see `rviz.launch.py <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_bringup/launch/rviz.launch.py>`_:octicon:`link-external`):
 
 #. Read ``RViz`` configurations.
@@ -121,10 +121,10 @@ This launch file will spin up ``RViz`` for visualization. It will (see `rviz.lau
     List all arguments for the launch file via ``ros2 launch lbr_bringup rviz.launch.py -s``.
 
 .. note::
-    Requires the user to run :ref:`Launch a Mock Setup`, :ref:`Launch the Gazebo Simulation` or :ref:`Launch Hardware` first.
+    Requires the user to run `Mock Setup`_, `Gazebo Simulation`_ or `Launch Hardware`_ first.
 
-Launch MoveIt
-~~~~~~~~~~~~~
+MoveIt
+~~~~~~
 Please note that MoveIt configurations are specific and you as a user will need to create your own for your system (potentially containing multiple robots or an end-effector).
 
 .. code:: bash
@@ -135,7 +135,7 @@ Please note that MoveIt configurations are specific and you as a user will need
         rviz:=true
 
 .. note::
-    Requires the user to run :ref:`Launch a Mock Setup`, :ref:`Launch the Gazebo Simulation` or :ref:`Launch Hardware` first.
+    Requires the user to run `Mock Setup`_, `Gazebo Simulation`_ or `Launch Hardware`_ first.
 
 .. note::
     Runs ``RViz`` with specific MoveIt configurations.

lbr_demos/lbr_demos_advanced_cpp/doc/lbr_demos_advanced_cpp.rst

@@ -34,8 +34,7 @@ This demo implements a simple admittance controller.
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
-            sim:=false \
+        ros2 launch lbr_bringup hardware.launch.py \
             ctrl:=lbr_joint_position_command_controller \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
@@ -76,8 +75,7 @@ kinematics to move the robot's end-effector along the z-axis in Cartesian space.
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
-            sim:=false \
+        ros2 launch lbr_bringup hardware.launch.py \
             ctrl:=lbr_joint_position_command_controller \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 

lbr_demos/lbr_demos_advanced_py/doc/lbr_demos_advanced_py.rst

@@ -34,8 +34,7 @@ This demo implements a simple admittance controller.
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
-            sim:=false \
+        ros2 launch lbr_bringup hardware.launch.py \
             ctrl:=lbr_joint_position_command_controller \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
@@ -75,8 +74,7 @@ This demo implements an admittance controller with a remote center of motion (RC
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
-            sim:=false \
+        ros2 launch lbr_bringup hardware.launch.py \
             ctrl:=lbr_joint_position_command_controller \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 

lbr_demos/lbr_demos_cpp/doc/lbr_demos_cpp.rst

@@ -34,9 +34,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRJointPositionCommandController` and ov
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
+        ros2 launch lbr_bringup hardware.launch.py \
             ctrl:=lbr_joint_position_command_controller \
-            sim:=false \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Run the `joint_sine_overlay <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_cpp/src/joint_sine_overlay.cpp>`_:octicon:`link-external` node:
@@ -57,8 +56,7 @@ Simulation
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
-            sim:=true \
+        ros2 launch lbr_bringup gazebo.launch.py \
             ctrl:=joint_trajectory_controller \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
@@ -90,7 +88,7 @@ Hardware
         - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL``
         - ``FRI client command mode``: ``POSITION``
 
-#. Proceed with steps 1 and 2 from `Simulation`_ but with ``sim:=false``.
+#. Proceed with steps 1 and 2 from `Simulation`_ but with ``ros2 launch lbr_bringup hardware.launch.py``.
 
 LBR Torque Command Controller (Hardware only)
 ---------------------------------------------
@@ -118,9 +116,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRTorqueCommandController` and overlays
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
+        ros2 launch lbr_bringup hardware.launch.py \
             ctrl:=lbr_torque_command_controller \
-            sim:=false \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Run the `torque_sine_overlay <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_cpp/src/torque_sine_overlay.cpp>`_:octicon:`link-external` node:
@@ -157,9 +154,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRWrenchCommandController` and overlays
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
+        ros2 launch lbr_bringup hardware.launch.py \
             ctrl:=lbr_wrench_command_controller \
-            sim:=false \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Run the `wrench_sine_overlay <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_cpp/src/wrench_sine_overlay.cpp>`_:octicon:`link-external` node:

lbr_demos/lbr_demos_py/doc/lbr_demos_py.rst

@@ -34,9 +34,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRJointPositionCommandController` and ov
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
+        ros2 launch lbr_bringup hardware.launch.py \
             ctrl:=lbr_joint_position_command_controller \
-            sim:=false \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Run the `joint_sine_overlay <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_py/lbr_demos_py/joint_sine_overlay.py>`_:octicon:`link-external` node:
@@ -57,8 +56,7 @@ Simulation
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
-            sim:=true \
+        ros2 launch lbr_bringup gazebo.launch.py \
             ctrl:=joint_trajectory_controller \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
@@ -90,7 +88,7 @@ Hardware
         - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL``
         - ``FRI client command mode``: ``POSITION``
 
-#. Proceed with steps 1 and 2 from `Simulation`_ but with ``sim:=false``.
+#. Proceed with steps 1 and 2 from `Simulation`_ but with ``ros2 launch lbr_bringup hardware.launch.py``.
 
 LBR Torque Command Controller (Hardware only)
 ---------------------------------------------
@@ -118,9 +116,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRTorqueCommandController` and overlays
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
+        ros2 launch lbr_bringup hardware.launch.py \
             ctrl:=lbr_torque_command_controller \
-            sim:=false \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Run the `torque_sine_overlay <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_py/lbr_demos_py/torque_sine_overlay.py>`_:octicon:`link-external` node:
@@ -157,9 +154,8 @@ This demo uses the :ref:`lbr_fri_ros2::LBRWrenchCommandController` and overlays
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
+        ros2 launch lbr_bringup hardware.launch.py \
             ctrl:=lbr_wrench_command_controller \
-            sim:=false \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Run the `wrench_sine_overlay <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_demos_py/lbr_demos_py/wrench_sine_overlay.py>`_:octicon:`link-external` node:

lbr_demos/lbr_moveit_cpp/doc/lbr_moveit_cpp.rst

@@ -17,17 +17,24 @@ Simulation
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
+        ros2 launch lbr_bringup mock.launch.py \
             moveit:=true \
-            sim:=true \
+            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+
+#. Run MoveIt:
+
+    .. code-block:: bash
+
+        ros2 launch lbr_moveit_cpp move_group.launch.py \
+            mode:=mock \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. Run the `hello_moveit <https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/humble/lbr_demos/lbr_moveit_cpp/src/hello_moveit.cpp>`_:octicon:`link-external` node:
 
     .. code-block:: bash
 
         ros2 launch lbr_moveit_cpp hello_moveit.launch.py \
-            sim:=true \
+            mode:=mock \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 Hardware
@@ -50,7 +57,7 @@ Hardware
         - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL``
         - ``FRI client command mode``: ``POSITION``
 
-#. Proceed with steps 1 and 2 from `Simulation`_ but with ``sim:=false``.
+#. Proceed with steps 1, 2 and 3 from `Simulation`_ but with ``ros2 launch lbr_bringup hardware.launch.py``.
 
 Examining the Code
 ~~~~~~~~~~~~~~~~~~

lbr_demos/lbr_moveit_cpp/launch/hello_moveit.launch.py

@@ -42,7 +42,6 @@ def generate_launch_description() -> LaunchDescription:
     ld = LaunchDescription()
 
     ld.add_action(LBRDescriptionMixin.arg_model())
-    ld.add_action(LBRDescriptionMixin.arg_robot_name())
     ld.add_action(LBRDescriptionMixin.arg_mode())
 
     ld.add_action(OpaqueFunction(function=hidden_setup))

lbr_demos/lbr_moveit_py/doc/lbr_moveit_py.rst

@@ -18,9 +18,16 @@ Simulation
 
     .. code-block:: bash
 
-        ros2 launch lbr_bringup bringup.launch.py \
-            moveit:=true \
-            sim:=true \
+        ros2 launch lbr_bringup mock.launch.py \
+            model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
+
+#. Run MoveIt with RViz:
+
+    .. code-block:: bash
+
+        ros2 launch lbr_moveit_py move_group.launch.py \
+            mode:=mock \
+            rviz:=true \
             model:=iiwa7 # [iiwa7, iiwa14, med7, med14]
 
 #. You can now move the robot via MoveIt in RViZ!
@@ -45,4 +52,4 @@ Hardware
         - ``FRI control mode``: ``POSITION_CONTROL`` or ``JOINT_IMPEDANCE_CONTROL``
         - ``FRI client command mode``: ``POSITION``
 
-#. Proceed with steps 1 and 2 from `Simulation`_ but with ``sim:=false``.
+#. Proceed with steps 1 and 2 from `Simulation`_ but with ``ros2 launch lbr_bringup hardware.launch.py``.