diff --git a/_sources/doc/ur_simulation_gz/ur_simulation_gz/doc/usage.rst.txt b/_sources/doc/ur_simulation_gz/ur_simulation_gz/doc/usage.rst.txt
index 2fa46ff..965edf5 100644
--- a/_sources/doc/ur_simulation_gz/ur_simulation_gz/doc/usage.rst.txt
+++ b/_sources/doc/ur_simulation_gz/ur_simulation_gz/doc/usage.rst.txt
@@ -21,7 +21,7 @@ Which can be tested by using a test script from ``ur_robot_driver`` (if installe
 
 .. code-block:: console
 
-   $ ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py
+   $ ros2 run ur_robot_driver example_move.py
 
 If we also want to be able to use MoveIt!, then:
 
diff --git a/doc/ur_simulation_gz/ur_simulation_gz/doc/usage.html b/doc/ur_simulation_gz/ur_simulation_gz/doc/usage.html
index 91cd29b..b4b459c 100644
--- a/doc/ur_simulation_gz/ur_simulation_gz/doc/usage.html
+++ b/doc/ur_simulation_gz/ur_simulation_gz/doc/usage.html
@@ -103,7 +103,7 @@ <h2>Launch Files<a class="headerlink" href="#launch-files" title="Link to this h
 </pre></div>
 </div>
 <p>Which can be tested by using a test script from <code class="docutils literal notranslate"><span class="pre">ur_robot_driver</span></code> (if installed), in a new terminal:</p>
-<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>ros2<span class="w"> </span>launch<span class="w"> </span>ur_robot_driver<span class="w"> </span>test_joint_trajectory_controller.launch.py
+<div class="highlight-console notranslate"><div class="highlight"><pre><span></span><span class="gp">$ </span>ros2<span class="w"> </span>run<span class="w"> </span>ur_robot_driver<span class="w"> </span>example_move.py
 </pre></div>
 </div>
 <p>If we also want to be able to use MoveIt!, then:</p>
diff --git a/searchindex.js b/searchindex.js
index b1cc66f..62aa939 100644
--- a/searchindex.js
+++ b/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"alltitles": {"About this package": [[13, "about-this-package"]], "Action interface / usage": [[13, "action-interface-usage"]], "Advertised Services": [[16, "advertised-services"]], "Advertised services": [[13, "advertised-services"]], "Assembling the URDF": [[40, null]], "Build / installation": [[5, null]], "Build from source": [[22, "build-from-source"]], "Build the MoveIt! config": [[41, null]], "Calibration correction algorithm": [[10, null]], "Check for preemption capabilities": [[7, "check-for-preemption-capabilities"]], "Commanding controllers": [[30, "commanding-controllers"]], "Compilation": [[7, "compilation"]], "Configure and build Workspace": [[37, "configure-and-build-workspace"]], "Contents:": [[0, null], [1, null], [4, null], [19, null], [24, null], [35, null], [36, null], [42, null]], "Continuation after interruptions": [[34, "continuation-after-interruptions"]], "Controller description": [[13, "controller-description"]], "Controllers": [[30, null]], "Create a description with ros2_control tag": [[43, "create-a-description-with-ros2-control-tag"]], "Create robot_state_publisher launchfile": [[43, "create-robot-state-publisher-launchfile"]], "Create start_robot launchfile": [[43, "create-start-robot-launchfile"]], "Creating your own description including this description": [[8, "creating-your-own-description-including-this-description"]], "Custom Description": [[39, "custom-description"]], "Custom URScript commands": [[32, "custom-urscript-commands"]], "Custom World": [[39, "custom-world"]], "Custom workcell": [[42, null]], "Customization": [[39, "customization"]], "Dashboard client": [[16, null]], "DashboardClient": [[2, "dashboardclient"]], "Driver startup": [[35, "driver-startup"]], "Driver\u2019s operation modes": [[27, "driver-s-operation-modes"]], "Enforce absolute paths in launchfiles": [[9, "enforce-absolute-paths-in-launchfiles"], [26, "enforce-absolute-paths-in-launchfiles"], [38, "enforce-absolute-paths-in-launchfiles"]], 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/ ROS 2 workspace": [[5, "inside-a-ros-ros-2-workspace"]], "Install from binary packages": [[22, "install-from-binary-packages"]], "Installation": [[24, null], [37, null]], "Installation of the ur_robot_driver": [[22, null]], "Installing a URCap on a CB3 robot": [[20, null]], "Installing a URCap on a e-Series robot": [[21, null]], "Installing a lowlatency-kernel": [[7, "installing-a-lowlatency-kernel"]], "Interfaces": [[13, "interfaces"]], "Iron to Jazzy": [[0, null], [1, "iron-to-jazzy"]], "Launch Files": [[39, "launch-files"]], "Launch files": [[34, "launch-files"]], "Library architecture": [[2, null]], "Manual adaptions": [[41, "manual-adaptions"]], "Migration Notes": [[1, null]], "Mock hardware": [[33, "mock-hardware"]], "Move the robot": [[31, null]], "Multi-line programs": [[32, "multi-line-programs"]], "Network setup": [[23, "network-setup"], [25, "network-setup"]], "Non-interrupting programs": [[32, "non-interrupting-programs"]], "Operation modes": [[27, null]], "Optional: Disable CPU speed scaling": [[7, "optional-disable-cpu-speed-scaling"]], "Other public interface functions": [[2, "other-public-interface-functions"]], "Overview": [[28, null]], "Parameters": [[13, "parameters"], [13, "id2"], [16, "parameters"]], "Plain cmake": [[5, "plain-cmake"]], "Polyscope version compatibility": [[6, null]], "Prepare the ROS PC": [[23, "prepare-the-ros-pc"]], "Prepare the robot": [[23, "prepare-the-robot"], [34, "prepare-the-robot"]], "Preparing": [[7, "preparing"]], "Published topics": [[13, "published-topics"]], "Quick start": [[35, "quick-start"]], "ROS 2": [[5, "ros-2"]], "ROS noetic": [[5, "ros-noetic"]], "RTDEClient": [[2, "rtdeclient"]], "RTDEWriter": [[2, "rtdewriter"]], "Read-only broadcasters": [[30, "read-only-broadcasters"]], "Reboot the PC": [[7, "reboot-the-pc"]], "Removed tf_prefix support": [[15, "removed-tf-prefix-support"]], "Restructuring for moveit_configs_builder compatibility": [[15, "restructuring-for-moveit-configs-builder-compatibility"]], 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"forward_position_controller": [[30, "forward-position-controller"]], "forward_velocity_controller": [[30, "forward-velocity-controller"]], "get_loaded_program (ur_dashboard_msgs/GetLoadedProgram)": [[16, "get-loaded-program-ur-dashboard-msgs-getloadedprogram"]], "get_robot_mode (ur_dashboard_msgs/GetRobotMode)": [[16, "get-robot-mode-ur-dashboard-msgs-getrobotmode"]], "get_safety_mode (ur_dashboard_msgs/GetSafetyMode)": [[16, "get-safety-mode-ur-dashboard-msgs-getsafetymode"]], "headless_mode": [[18, "headless-mode"]], "input_recipe_filename (Required)": [[18, "input-recipe-filename-required"]], "io_and_status_controller": [[30, "io-and-status-controller"]], "joint_state_broadcaster": [[30, "joint-state-broadcaster"]], "keep_alive_count -> robot_receive_timeout": [[26, "keep-alive-count-robot-receive-timeout"]], "kinematics/hash (Required)": [[18, "kinematics-hash-required"]], "load_installation (ur_dashboard_msgs/Load)": [[16, "load-installation-ur-dashboard-msgs-load"]], 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\ No newline at end of file
+Search.setIndex({"alltitles": {"About this package": [[13, "about-this-package"]], "Action interface / usage": [[13, "action-interface-usage"]], "Advertised Services": [[16, "advertised-services"]], "Advertised services": [[13, "advertised-services"]], "Assembling the URDF": [[40, null]], "Build / installation": [[5, null]], "Build from source": [[22, "build-from-source"]], "Build the MoveIt! config": [[41, null]], "Calibration correction algorithm": [[10, null]], "Check for preemption capabilities": [[7, "check-for-preemption-capabilities"]], "Commanding controllers": [[30, "commanding-controllers"]], "Compilation": [[7, "compilation"]], "Configure and build Workspace": [[37, "configure-and-build-workspace"]], "Contents:": [[0, null], [1, null], [4, null], [19, null], [24, null], [35, null], [36, null], [42, null]], "Continuation after interruptions": [[34, "continuation-after-interruptions"]], "Controller description": [[13, "controller-description"]], "Controllers": [[30, null]], "Create a description with ros2_control tag": [[43, "create-a-description-with-ros2-control-tag"]], "Create robot_state_publisher launchfile": [[43, "create-robot-state-publisher-launchfile"]], "Create start_robot launchfile": [[43, "create-start-robot-launchfile"]], "Creating your own description including this description": [[8, "creating-your-own-description-including-this-description"]], "Custom Description": [[39, "custom-description"]], "Custom URScript commands": [[32, "custom-urscript-commands"]], "Custom World": [[39, "custom-world"]], "Custom workcell": [[42, null]], "Customization": [[39, "customization"]], "Dashboard client": [[16, null]], "DashboardClient": [[2, "dashboardclient"]], "Driver startup": [[35, "driver-startup"]], "Driver\u2019s operation modes": [[27, "driver-s-operation-modes"]], "Enforce absolute paths in launchfiles": [[9, "enforce-absolute-paths-in-launchfiles"], [26, "enforce-absolute-paths-in-launchfiles"], [38, "enforce-absolute-paths-in-launchfiles"]], "Example driver": [[3, null]], "Example tutorials": [[44, "example-tutorials"]], "External Control": [[25, "external-control"]], "Extract calibration information": [[23, "extract-calibration-information"]], "Extract the calibration": [[43, "extract-the-calibration"]], "Feature list and roadmap": [[17, null], [28, "feature-list-and-roadmap"]], "Finish startup on the robot": [[34, "finish-startup-on-the-robot"]], "Getting the sources for a real-time kernel": [[7, "getting-the-sources-for-a-real-time-kernel"]], "Headless mode": [[27, "headless-mode"]], "How do controllers get loaded and started?": [[30, "how-do-controllers-get-loaded-and-started"]], "I sent raw script code to the robot but it is not executed": [[35, "i-sent-raw-script-code-to-the-robot-but-it-is-not-executed"]], "I started everything, but I cannot control the robot": [[35, "i-started-everything-but-i-cannot-control-the-robot"]], "Implementation details / dataflow": [[13, "implementation-details-dataflow"]], "Inside a ROS / ROS 2 workspace": [[5, "inside-a-ros-ros-2-workspace"]], "Install from binary packages": [[22, "install-from-binary-packages"]], "Installation": [[24, null], [37, null]], "Installation of the ur_robot_driver": [[22, null]], "Installing a URCap on a CB3 robot": [[20, null]], "Installing a URCap on a e-Series robot": [[21, null]], "Installing a lowlatency-kernel": [[7, "installing-a-lowlatency-kernel"]], "Interfaces": [[13, "interfaces"]], "Iron to Jazzy": [[0, null], [1, "iron-to-jazzy"]], "Launch Files": [[39, "launch-files"]], "Launch files": [[34, "launch-files"]], "Library architecture": [[2, null]], "Manual adaptions": [[41, "manual-adaptions"]], "Migration Notes": [[1, null]], "Mock hardware": [[33, "mock-hardware"]], "Move the robot": [[31, null]], "Multi-line programs": [[32, "multi-line-programs"]], "Network setup": [[23, "network-setup"], [25, "network-setup"]], "Non-interrupting programs": [[32, "non-interrupting-programs"]], "Operation modes": [[27, null]], "Optional: Disable CPU speed scaling": [[7, "optional-disable-cpu-speed-scaling"]], "Other public interface functions": [[2, "other-public-interface-functions"]], "Overview": [[28, null]], "Parameters": [[13, "parameters"], [13, "id2"], [16, "parameters"]], "Plain cmake": [[5, "plain-cmake"]], "Polyscope version compatibility": [[6, null]], "Prepare the ROS PC": [[23, "prepare-the-ros-pc"]], "Prepare the robot": [[23, "prepare-the-robot"], [34, "prepare-the-robot"]], "Preparing": [[7, "preparing"]], "Published topics": [[13, "published-topics"]], "Quick start": [[35, "quick-start"]], "ROS 2": [[5, "ros-2"]], "ROS noetic": [[5, "ros-noetic"]], "RTDEClient": [[2, "rtdeclient"]], "RTDEWriter": [[2, "rtdewriter"]], "Read-only broadcasters": [[30, "read-only-broadcasters"]], "Reboot the PC": [[7, "reboot-the-pc"]], "Removed tf_prefix support": [[15, "removed-tf-prefix-support"]], "Restructuring for moveit_configs_builder compatibility": [[15, "restructuring-for-moveit-configs-builder-compatibility"]], "ReverseInterface": [[2, "reverseinterface"]], "Robot description and semantic description updates": [[15, "robot-description-and-semantic-description-updates"]], "Robot frames": [[35, "robot-frames"]], "Robot setup": [[29, "robot-setup"]], "Robot\u2019s control modes": [[27, "robot-s-control-modes"]], "Script startup": [[25, "script-startup"]], "ScriptSender": [[2, "scriptsender"]], "Sending URScript code to the robot": [[32, null]], "Sending commands to controllers": [[35, "sending-commands-to-controllers"]], "Service interface / usage": [[13, "service-interface-usage"]], "Setting up Ubuntu with a PREEMPT_RT kernel": [[7, "setting-up-ubuntu-with-a-preempt-rt-kernel"]], "Setting up a UR robot for ur_robot_driver": [[23, null]], "Setting up the tool communication on an e-Series robot": [[29, null]], "Setup Assistant": [[41, "setup-assistant"]], "Setup GRUB to always boot the lowlatency / real-time kernel": [[7, "setup-grub-to-always-boot-the-lowlatency-real-time-kernel"]], "Setup ROS2 Workspace": [[37, "setup-ros2-workspace"]], "Setup URSim with Docker": [[25, null]], "Setup for real-time scheduling": [[7, null]], "Setup the ROS side": [[29, "setup-the-ros-side"]], "Setup user privileges to use real-time scheduling": [[7, "setup-user-privileges-to-use-real-time-scheduling"]], "Simulation": [[33, null]], "Start a URSim docker container": [[25, "start-a-ursim-docker-container"]], "Start the ur_robot_driver": [[43, null]], "Startup the driver": [[34, null]], "Structure of the repository": [[8, "structure-of-the-repository"], [36, "structure-of-the-repository"]], "Teach Pendant Mode": [[27, "teach-pendant-mode"]], "Testing everything": [[43, "testing-everything"]], "Tolerances": [[13, "tolerances"]], "Troubleshooting": [[35, "troubleshooting"]], "UR Hardware interface parameters": [[18, null]], "Universal Robots ROS tutorials": [[44, null]], "Update arguments for MoveIt!": [[38, "update-arguments-for-moveit"]], "Updated argument name for tf_prefix": [[38, 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