I have used an 8" Velodyne sub for 5yrs now with my 8000 (not 8002). I felt the lab 2 was quite powerful, but not as musical or tight as the Velodyne. The small Velodyne just rounded out the 8000's perfectly. I use a Velodyne SPL-800R which is no longer made, but has been updated since. I listen to music and tv on it, but mostly music. The sub comes with a microphone and has been configured using the room correction feature - sub is set to a level of 42(out of 99 I think).
I have a lab 11, paired to 12-2's and a Beovison 10. It sounds stunning. The 8002 should need something a little more, unless the lab11 is in a corner or in a cabinet (as mine is and I have it configured for minimum bass output - I.e. corner setting). Note, the lab11 is quite musical, but does not go down low enough for my HT or when I want to do some serious listening.
My suggestion is to look at a small sealed enclosure sub. I would not go with anything smaller then 8" or larger then a 12", if your looking for very clean tight bass . I am a big Velodyne fan, and would look at their top end sub their dd+ line is probably way to much sub for the 8002. Take a look at SVS (thinking about using it with my vision 11) - the REL dropped out for me since I did not want a downward firing sub.
Hope that helps