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moveit_basics.md

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+## MoveIt! Basics
+
+To begin running MoveIt! on stretch, turn the demo launch file. This doesn't require any simulator or robot to run.
+
+```bash
+roslaunch stretch_moveit_config demo.launch
+```
+This will brining up an RViz instance where you can move the robot around using [interactive markers](http://wiki.ros.org/rviz/Tutorials/Interactive%20Markers%3A%20Getting%20Started) and create plans between poses. You can reference the bottom gif as a guide to plan and execute motion.
+
+![image](images/moveit.gif)
+
+
+Additionally, the demo allows a user to select from the three groups, *stretch_arm*, *stretch_gripper*, *stretch_head* to move. The option to change groups in the in *Planning Request* section in the *Displays* tree. A few notes to be kept in mind:
+
+* Pre-defined start and goal states can be specified in Start State and Goal State drop downs in Planning tab of Motion Planning RViz plugin.
+
+* *stretch_gripper* group does not show markers, and is intended to be controlled via the joints tab that is located in the very right of Motion Planning Rviz plugin.
+
+* When planning with *stretch_head* group make sure you select *Approx IK Solutions* in Planning tab of Motion Planning RViz plugin.
+
+
+![image](images/moveit_groups.gif)
+
+
+## Running Gazebo with MoveIt! and Stretch
+
+
+```bash
+# Terminal 1:
+roslaunch stretch_gazebo gazebo.launch
+# Terminal 2:
+roslaunch stretch_gazebo teleop_keyboard.launch # or use teleop_joy.launch if you have a controller
+# Terminal 3
+roslaunch stretch_moveit_config demo_gazebo.launch
+```
+
+
+This will launch an Rviz instance that visualizes the joints with markers and an empty world in Gazebo with Stretch and load all the controllers. There are pre-defined positions for each joint group for demonstration purposes. There are three joint groups, namely stretch_arm, stretch_gripper and stretch_head that can be controlled individually via Motion Planning Rviz plugin. Start and goal positions for joints can be selected similar to [this moveit tutorial](https://ros-planning.github.io/moveit_tutorials/doc/quickstart_in_rviz/quickstart_in_rviz_tutorial.html#choosing-specific-start-goal-states).
+
+
+![image](images/gazebo_moveit.gif)