rede96 said:
If I take the FRW equations, assuming flat space and no dark energy, and as the radiation energy density today is negligible, then all I am left with is the matter energy density, this would give me a 'rate' of movement. But as I understand it, that in itself doesn't tell me if the universe is expanding or contracting, is that correct?
The first Friedmann equation has the square of the Hubble constant on the LHS, so for a given density there are two possible solutions, expanding and contracting, yes. (Note that there is also a curvature term on the LHS, but you can always just try each of the three possibilities, k = +1, 0, -1, to see which of them give possible solutions.) To distinguish between them, you need some kind of initial condition--for example, the observation that the universe right now is expanding.
rede96 said:
in the scenario we mentioned (ie two bodies at rest) then what does the FRW equations tell us about that situation?
Nothing, because it isn't applicable. The Friedmann equations assume that the matter in the universe is a continuous fluid; it can't be applied to the case of two isolated bodies in empty space.
If we assumed we had a matter-only universe where all the matter (the continuous fluid) was at rest at some instant of time, the Friedmann equations--more precisely, the second Friedmann equation--would tell us that it would start contracting. "At rest at some instant of time" is an initial condition, and is enough to allow the equations to give a unique solution.
rede96 said:
Quite often I hear / read of vacuum energy being a property of empty space and we can't have totally 'empty' space.
Now you're talking quantum field theory, not classical GR. It is true that in quantum field theory, what we normally think of as "empty space" should have a nonzero vacuum energy. However, when we try to calculate this energy, we come up with an enormous answer: something like 123 orders of magnitude larger than the largest value which is compatible with our observations. So something is clearly wrong with our current understanding of how this works in quantum field theory.
rede96 said:
is vacuum energy of empty space different from dark energy?
In terms of what the physical origin of dark energy (meaning, "whatever it is that is causing the accelerated expansion of the universe") is, we don't know; it could be vacuum energy or it could be something else like a scalar field, or it could be a combination of several such things. In terms of how vacuum energy would behave in the equations, it would behave the same as dark energy--like a cosmological constant. (At least, assuming that dark energy works the way we assume it does in our best current model--see below.) So the cosmological constant term in the equations covers both possibilities.
There are other speculations about types of "dark energy" that work differently from a cosmological constant--such as "quintessence", which causes accelerated expansion but not quite as strongly as a cosmological constant; or "phantom energy", which causes even more acceleration than a cosmological constant and leads to a "Big Rip" scenario. None of these speculations have any evidence to back them up; our best current evidence is that the accelerated expansion we observe is exactly what it should be if it were due to a very, very tiny cosmological constant.