From 4cbf76c89e672c5f902b1776a1a2839b2d1f6deb Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Tue, 14 May 2024 12:57:12 +0200
Subject: [PATCH] Add rst doc for ur_moveit_config

---
 ur_moveit_config/doc/index.rst | 27 +++++++++++++++++++++++++++
 ur_robot_driver/doc/usage.rst  | 17 ++---------------
 2 files changed, 29 insertions(+), 15 deletions(-)
 create mode 100644 ur_moveit_config/doc/index.rst

diff --git a/ur_moveit_config/doc/index.rst b/ur_moveit_config/doc/index.rst
new file mode 100644
index 000000000..ac08cfc20
--- /dev/null
+++ b/ur_moveit_config/doc/index.rst
@@ -0,0 +1,27 @@
+.. _ur_moveit_config:
+================
+ur_moveit_config
+================
+
+This package contains an **example** MoveIt! configuration for Universal Robots arms. Since the
+default description contains only the arm this MoveIt! configuration package also only contains the
+arm without any objects around it.
+
+Since a robotic arm is usually not floating in empty space, but is mounted somewhere, it is also
+recommended to create a robot_description modelling the real-world scenario and to generate a
+*scenario_moveit_config* package from that description as explained in the :ref:`Custom workcell
+tutorial <custom_workcell_tutorial>`.
+
+Usage
+-----
+
+With a running driver (Real hardware, URSim or mocked hardware), simply start the MoveIt!
+interaction using
+
+.. code-block::
+
+   ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true
+
+Now you should be able to use the MoveIt Plugin in rviz2 to plan and execute trajectories with the
+robot as explained `here <https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html>`_.
+
diff --git a/ur_robot_driver/doc/usage.rst b/ur_robot_driver/doc/usage.rst
index 1a3acd329..6e23697ae 100644
--- a/ur_robot_driver/doc/usage.rst
+++ b/ur_robot_driver/doc/usage.rst
@@ -178,11 +178,8 @@ Using MoveIt
 
 `MoveIt! <https://moveit.ros.org>`_ support is built-in into this driver already.
 
-Real robot / URSim
-^^^^^^^^^^^^^^^^^^
-
 To test the driver with the example MoveIt-setup, first start the driver as described
-`above <#start-hardware-simulator-or-mockup>`_.
+`above <#start-hardware-simulator-or-mockup>`_ and then start the MoveIt! nodes using
 
 .. code-block::
 
@@ -191,17 +188,7 @@ To test the driver with the example MoveIt-setup, first start the driver as desc
 Now you should be able to use the MoveIt Plugin in rviz2 to plan and execute trajectories with the
 robot as explained `here <https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html>`_.
 
-Mock hardware
-^^^^^^^^^^^^^
-
-Currently, the ``scaled_joint_trajectory_controller`` does not work with ros2_control mock_hardware. There is an
-`upstream Merge-Request <https://github.com/ros-controls/ros2_control/pull/822>`_ pending to fix that. Until this is merged and released, you'll have to fallback to the ``joint_trajectory_controller`` by passing ``initial_controller:=joint_trajectory_controller`` to the driver's startup. Also, you'll have to tell MoveIt! that you're using mock_hardware as it then has to map to the other controller:
-
-.. code-block::
-
-   ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy use_mock_hardware:=true launch_rviz:=false initial_joint_controller:=joint_trajectory_controller
-   # and in another shell
-   ros2 launch ur_moveit_config ur_moveit.launch.py ur_type:=ur5e launch_rviz:=true use_mock_hardware:=true
+For more details, please see :ref:`ur_moveit_config`.
 
 Robot frames
 ------------