add README.md instructions

scripts/setup-robot-moveit.bash

@@ -139,7 +139,12 @@ done
 prepend_to_string="if(BUILD_TESTING)"
 sed -i "s/$prepend_to_string/install\(\\n  DIRECTORY config launch rviz srdf\\n  DESTINATION share\/\$\{PROJECT_NAME\}\\n\)\\n\\n$prepend_to_string/g" CMakeLists.txt
 
-# TODO: add README with general instructions
+# extend README with general instructions
+if [ -f README.md ]; then
+  cat $MOVEIT_TEMPLATES/append_to_README.md >>README.md
+  sed -i "s/\\\$PKG_NAME\\\$/${PKG_NAME}/g" README.md
+  sed -i "s/\\\$ROBOT_NAME\\\$/${ROBOT_NAME}/g" README.md
+fi
 
 # TODO: Add license checks
 

templates/moveit/append_to_MAIN_README.md

@@ -0,0 +1,15 @@
+
+
+## Moving the robot using MoveIt2
+> **NOTE:** If you are not familiar with MoveIt2, check the docs for some [useful examples](https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html)
+
+To move the robot using Moveit2, we first bring up the robot with the mock hardware enabled:
+```
+ros2 launch <robot_bringup_package> $ROBOT_NAME$.launch.xml use_mock_hardware:=true
+```
+
+After that, in another terminal we launch MoveIt2:
+```
+ros2 launch $ROBOT_NAME$_moveit moveit.launch.xml
+```
+Now we can use the `MotionPlanning` widget in `rviz2` to assign goals, plan and execute motions.

templates/moveit/append_to_README.md

@@ -0,0 +1,44 @@
+
+
+## General details about robot MoveIt2 packages
+
+A moveit package holds config and launch files for robotic manipulation using MoveIt2.
+It builds on description and bringup packages generated by `setup-robot-description` and `setup-robot-bringup`.
+
+The general package structure is the following:
+
+```
+$PKG_NAME$/                           # Launch and config files for robot manipulation using MoveIt
+├── [CMakeLists.txt]                               # if ament_cmake is used (recommended)
+├── package.xml
+├── [setup.py]                                     # if ament_python is used
+├── [setup.cfg]                                    # if ament_python is used
+├── config/
+│   ├── move_group.yaml                            # Various configuration needed for move_group_node: controllers, kinematics, action execution...
+│   ├── <planner>_planning.yaml                    # Specific planner configuration. Default is OMPL
+└── launch/
+    ├── moveit.launch.py                           # MoveIt launch file.
+└── srdf/
+    ├── $ROBOT_NAME$_macro.srdf.xacro              # Semantic robot description macro
+    ├── $ROBOT_NAME$.srdf.xacro                    # Semantic robot description required for MoveIt.
+└── rviz/
+    ├── moveit.launch.py                           # RViZ config with MoveIt MotionPlanning widget.
+
+```
+## Compiling the package
+
+To sucessfuly compile and run this package, it is necessary to install `MoveIt`. For a simple binary install, [follow the official guide](https://moveit.ros.org/install-moveit2/binary/)
+
+## Moving the *mock_robot* using MoveIt2
+
+1. Start robot's hardware and load controllers (default configuration starts mock hardware)
+   ```
+   ros2 launch <bringup_pkg_name> $ROBOT_NAME$.launch.xml
+   ```
+
+2. Open another terminal and launch MoveIt
+   ```
+   ros2 launch $ROBOT_NAME$_moveit moveit.launch.xml
+   ```
+
+3. You should now be able to use `MotionPlanning` widget in `rviz2` to assign, plan and execute robot motion.