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+# Motion Commands in ROS2
+
+## Quickstart
+
+Sending motion commands is as easy as:
+
+ 1. Launch the ROS2 driver in a terminal:
+    ```{.bash .shell-prompt .copy}
+    ros2 launch stretch_core stretch_driver.launch.py
+    ```
+ 2. Open iPython and type the following code, one line at a time:
+    ```python
+    import hello_helpers.hello_misc as hm
+    node = hm.HelloNode.quick_create('temp')
+    node.move_to_pose({'joint_lift': 0.4}, blocking=True)
+    node.move_to_pose({'joint_wrist_yaw': 0.0, 'joint_wrist_roll': 0.0}, blocking=True)
+    ```
+
+## Writing a node
+
+You can also write a ROS2 node to send motion commands:
+
+```python
+import hello_helpers.hello_misc as hm
+
+class MyNode(hm.HelloNode):
+    def __init__(self):
+        hm.HelloNode.__init__(self)
+
+    def main(self):
+        hm.HelloNode.main(self, 'my_node', 'my_node', wait_for_first_pointcloud=False)
+        # my_node's main logic goes here
+
+node = MyNode()
+node.main()
+```
+
+Copy the above into a file called "example.py" and run it using:
+
+```{.bash .shell-prompt .copy}
+python3 example.py
+```