diff --git a/source/Capabilities/About-Manipulation.rst b/source/Capabilities/About-Manipulation.rst index f556bd9421d..c7a027f1c8a 100644 --- a/source/Capabilities/About-Manipulation.rst +++ b/source/Capabilities/About-Manipulation.rst @@ -7,7 +7,46 @@ Manipulation .. list of child topics here +Manipulation capabilities enable robots to analyze their environment and perform tasks like picking and placing objects. +This article summarizes ROS developer tools and guidance available to help with manipulation. + +**Area: manipulation, capabilities | Content-type: about | Experience: beginner, intermediate, expert** + .. contents:: Table of Contents :local: -Coming Soon +Summary +------- + +Every robot needs to interact with its environment. +Manipulation capabilities include analysis of the environment around a manipulator, planning the motion of the manipulator to get the end effector where it needs to be, and controlling end effects to do things like pick and place objects. + +Core ROS packages + +There are no core packages for this area. + +Community-contributed packages + +* `Move it `_: A motion planning, manipulation, and kinematics framework for ROS. + +* `Tesseract `_: An optical Character Recognition (OCR) engine used to extract text from images. + +* `OMPL `_: A C++ library providing sampling-based algorithms for motion planning in robotics and automated systems. + +* `SBPL `_: A C++ library providing search-based motion planning algorithms for robotics and automated systems. + +* `RoboPlan `_: A Rust and C++ library providing a planning framework for robotics and automated systems. + +* `PyRoboPlan `_: A Python library for modeling robot kinematics and dynamics. + +.. Related content (placeholder) + ------------------------------ + * Example + + * Example + + FAQs (placeholder) + ------------------ + * Example + + * Example diff --git a/source/Capabilities/About-Motion-planning.rst b/source/Capabilities/About-Motion-planning.rst index 5c3809380a4..97f6a2e1a9c 100644 --- a/source/Capabilities/About-Motion-planning.rst +++ b/source/Capabilities/About-Motion-planning.rst @@ -5,9 +5,48 @@ Motion planning :maxdepth: 1 :hidden: - Motion-planning/Real-Time-Programming +Motion planning enables you to control a robot's movements to achieve an intended goal. +This article summarizes ROS developer tools and guidance available to help with motion planning. + +**Area: motion-planning, capabilities | Content-type: about | Experience: beginner, intermediate, expert** .. contents:: Table of Contents :local: -Coming Soon +Summary +------- + +Motion planning enables your robot to plan movements, including responding to real-world effects such as wheel slip or things in the environment moving. +This can involve controlling complex chains of actuators and links, such as those found in industrial manipulators. +ROS motion planning capabilities let you focus on where you want the end effector to be, rather than focusing on controlling every actuator individually. + +For mobile robots, ROS also supports navigation capabilities. +See :doc:`About navigation ` + +Core ROS packages + +There are no core packages for this area. + +Community-contributed packages + +QUESTION FOR THE REVIEWER: Are there any other community-contributed packages that should be listed here? +If so, please provide them. + +* `Move it `_: A motion planning, manipulation, and kinematics framework for ROS. + +* Placeholder + +* Placeholder + +Related content (placeholder) +----------------------------- + +* Example + +* Example + +FAQs (placeholder) +------------------ +* Example + +* Example diff --git a/source/Capabilities/About-Navigation.rst b/source/Capabilities/About-Navigation.rst index 4ed8b344225..8ee54352fb0 100644 --- a/source/Capabilities/About-Navigation.rst +++ b/source/Capabilities/About-Navigation.rst @@ -7,7 +7,45 @@ Navigation .. list of child topics here +Navigation capabilities enable a robot to map its position in an environment and plan the path to a new destination. +This article summarizes ROS developer tools and guidance available to help with navigation. + +**Area: perception, capabilities | Content-type: about | Experience: beginner, intermediate, expert** + .. contents:: Table of Contents :local: -Coming Soon +Summary +------- + +Navigation capabilities enable a mobile robot to map its environment, plan a path to a new destination, and then control movement along that path including handling unexpected events that happen as it moves. + +ROS also includes motion planning capabilities. +:doc:`See About motion planning ` + +Core ROS packages + +There are no core packages for this area. + +Community-contributed packages + +QUESTION FOR THE REVIEWER: Are there any other community-contributed packages that should be listed here? +If so, please provide them. + +* `Navigation 2 `_: An industry-standard mobile robot navigation system for mobile and surface robotics. + +* Placeholder + +Related content (placeholder) +----------------------------- + +* Example + +* Example + +FAQs (placeholder) +------------------ + +* Example + +* Example diff --git a/source/Capabilities/About-Perception.rst b/source/Capabilities/About-Perception.rst index f4b7ca7d6b6..2887beea558 100644 --- a/source/Capabilities/About-Perception.rst +++ b/source/Capabilities/About-Perception.rst @@ -7,7 +7,46 @@ Perception .. list of child topics here +Perception capabilities help your robot to understand and interpret the world. +This article summarizes ROS developer tools and guidance available to help with perception. + +**Area: perception, capabilities | Content-type: about | Experience: beginner, intermediate, expert** + .. contents:: Table of Contents :local: -Coming Soon +Summary +------- + +Perception capabilities are how your robot sees the world. +They enable your robot to process data from a range of sensors, such as cameras, bump sensors, and LIDAR sensors, and turn that into information the robot can use to plan and control its actions. +This includes sensor fusion (combining data from multiple sensors into a unified view of the world). + +Core ROS packages + +There are no core packages for this area. + +Community-contributed packages + +QUESTION FOR THE REVIEWER: Are there any community-contributed packages that should be listed here? +If so, please provide them. + +* Placeholder + +* Placeholder + +* Placeholder + +Related content (placeholder) +----------------------------- + +* Example + +* Example + +FAQs (placeholder) +------------------ + +* Example + +* Example diff --git a/source/Capabilities/About-Simulation.rst b/source/Capabilities/About-Simulation.rst index eee2ff5d985..9ef9b54af4d 100644 --- a/source/Capabilities/About-Simulation.rst +++ b/source/Capabilities/About-Simulation.rst @@ -8,7 +8,42 @@ Simulation Simulation/URDF/URDF-Main Simulation/dummy-robot/dummy-robot-demo +Simulation capabilities allow you to test your robot's software in physically accurate virtual environments. +This article summarizes ROS developer tools and guidance available to enable simulation. + +**Area: simulation, capabilities | Content-type: about | Experience: beginner, intermediate, expert** + .. contents:: Table of Contents :local: -Coming Soon +Summary +------- + +It's not always feasible to build, train, and test robotic applications in their real-world environments. +Simulation capabilities support development by making it possible to use the same ROS software in virtual environments that accurately represent the physical world. + +Core ROS packages + +There are no core packages for this area. + +Community-contributed packages + +* `Gazebo `_: A toolbox of development libraries and cloud services for simulation. + +* `Webots `_: A robotics simulator for modeling, programming, and testing robots in a realistic 3D physics environment. + +* `Isaac Sim `_: A cloud-based simulation platform for developing and testing robotic applications. + +* `O3DE `_: An open-source, cross-platform 3D game engine for creating immersive experiences. + +.. Related content (placeholder) + ----------------------------- + * Example + + * Example + + FAQs (placeholder) + ------------------ + * Example + + * Example diff --git a/source/index.rst b/source/index.rst index a4950ae4cf2..a3f9527fc40 100644 --- a/source/index.rst +++ b/source/index.rst @@ -21,7 +21,6 @@ ROS 2 Documentation Glossary Citations - **The Robot Operating System (ROS) is a set of software libraries and tools for building robot applications.** From drivers and state-of-the-art algorithms to powerful developer tools, ROS has the open source tools you need for your next robotics project.