Interbotix.md

@@ -68,3 +68,22 @@ The WidowX 250 offers 5 degree of freedom and a full 360 degree of rotation. The
  
 ## Getting started with ROS
 
++ Launch ros server
+```
+> roscore
+```
++ with simulated robot, launch moveit node
+```
+> roslaunch interbotix_moveit interbotix_moveit.launch robot_name:=wx250  use_fake:=true
+```
++ with real robot, launch moveit node
+```
+> roslaunch interbotix_moveit interbotix_moveit.launch robot_name:=wx250 use_actual:=true dof:=5
+```
++ Change arm position with moveit interface
+``` 
+Goal State -> random valid position
+plan & execute
+```
+
+<img src="./images/widowx250-1.png" width="400" height="250"> <img src="./images/widowx250-2.png" width="400" height="250">