From 219f7705a1fd883df0c32d797fbf6c889db6175f Mon Sep 17 00:00:00 2001
From: Ryosuke Tajima <ryosuke.tajima@opensource-robotics.tokyo.jp>
Date: Sat, 18 Aug 2018 14:24:20 +0900
Subject: [PATCH] Add how-to for MoveIt! to README.md

---
 README.md | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/README.md b/README.md
index 42cd3ad..861e67a 100644
--- a/README.md
+++ b/README.md
@@ -37,22 +37,45 @@ interface like joint trajectory action, so you can use MoveIt! on it.
 
 ![UR5 fake_joint](image/ur5_fake.png)
 
+To use just fake driver and rqt plugin:
+
 ```
 $ roslaunch fake_joint_launch ur3.launch use_rqt:=true
 ```
 
+To use fake driver and MoveIt!:
+
+```
+$ roslaunch fake_joint_launch ur3.launch use_rviz:=false
+$ roslaunch ur3_moveit_config ur3_moveit_planning_execution.launch sim:=true
+$ roslaunch ur3_moveit_config moveit_rviz.launch config:=true
+```
+
 ### TRA1
 
 ![TRA1 fake_joint](image/tra1_fake.png)
 
+To use just fake driver and rqt plugin:
+
 ```
 $ roslaunch fake_joint_launch tra1.launch use_rqt:=true
 ```
 
+To use fake driver and MoveIt!:
+
+```
+$ roslaunch fake_joint_launch tra1.launch use_rviz:=false
+$ roslaunch tra1_bringup tra1_moveit.launch
+```
+
 ### PR2
 
 ![PR2 fake_joint](image/pr2_fake.png)
 
+To use just fake driver and rqt plugin:
+
 ```
 $ roslaunch fake_joint_launch pr2.launch use_rqt:=true
 ```
+
+I can't find MoveIt! files for actual robot :-(