From 725ca2a996b27c535bd710c2eb48a19bec04aa17 Mon Sep 17 00:00:00 2001 From: sarahfarnborough-3di Date: Tue, 30 Jun 2026 15:06:37 +0000 Subject: [PATCH 1/8] adding content to capabilities articles --- source/About-manipulation.rst | 16 ++++++++++++++++ source/About-motion-planning.rst | 16 ++++++++++++++++ source/About-navigation.rst | 15 +++++++++++++++ source/About-perception.rst | 17 +++++++++++++++++ source/About-simulation.rst | 16 ++++++++++++++++ source/index.rst | 6 +++++- 6 files changed, 85 insertions(+), 1 deletion(-) create mode 100644 source/About-manipulation.rst create mode 100644 source/About-motion-planning.rst create mode 100644 source/About-navigation.rst create mode 100644 source/About-perception.rst create mode 100644 source/About-simulation.rst diff --git a/source/About-manipulation.rst b/source/About-manipulation.rst new file mode 100644 index 00000000000..4861f95667e --- /dev/null +++ b/source/About-manipulation.rst @@ -0,0 +1,16 @@ +Manipulation +=============== + +Manipulation capabilities enable robots to analyze their environment and control end effectors to 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: + +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. diff --git a/source/About-motion-planning.rst b/source/About-motion-planning.rst new file mode 100644 index 00000000000..c490e384dd2 --- /dev/null +++ b/source/About-motion-planning.rst @@ -0,0 +1,16 @@ +Motion planning +=============== + +Motion planning capabilities enable you to control complex chains of actuators and links by focusing on where you want the end effector to be. +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: + +Summary +------- + +Motion planning capabilities enable the control of complex chains of actuators and links, such as those found in industrial manipulators. +These capabilities let you think about where you want the end effector to be and not worry about controlling every actuator individually. diff --git a/source/About-navigation.rst b/source/About-navigation.rst new file mode 100644 index 00000000000..883475e2089 --- /dev/null +++ b/source/About-navigation.rst @@ -0,0 +1,15 @@ +Navigation +========== + +Navigation capabilities enable a mobile robot to map its environment, plan a path to its destination, and safely follow that path while adapting to unexpected changes. +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: + +Summary +------- + +Navigation capabilities are focused on producing maps of an environment, then planning a path through that environment for a mobile robot to travel to its destination, and finally controlling the robot to move along that path - including handling unexpected events that arise as it moves. diff --git a/source/About-perception.rst b/source/About-perception.rst new file mode 100644 index 00000000000..a138772702c --- /dev/null +++ b/source/About-perception.rst @@ -0,0 +1,17 @@ +Perception +========== + +Perception capabilities help your robot understand and interpret the world around it by turning raw sensor data into a unified view of 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: + +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 canuse to plan and control its actions. +This includes sensor fusion, the combining of data from multiple sensors into a unified view of the world. diff --git a/source/About-simulation.rst b/source/About-simulation.rst new file mode 100644 index 00000000000..a6506ea8342 --- /dev/null +++ b/source/About-simulation.rst @@ -0,0 +1,16 @@ +Simulation +========== + +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 help with simulation. + +**Area: simulation, capabilities | Content-type: about | Experience: beginner, intermediate, expert** + +.. contents:: Table of Contents + :local: + +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 software as your real robot within physically accurate virtual environments. diff --git a/source/index.rst b/source/index.rst index 93cbe9d2f4c..1cc72e570ca 100644 --- a/source/index.rst +++ b/source/index.rst @@ -22,7 +22,11 @@ ROS 2 Documentation Related-Projects Glossary Citations - + About-manipulation + About-motion-planning + About-navigation + About-perception + About-simulation **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. From 40bc18e61ad6c9b900de6bdaa5cd37355a5a23c8 Mon Sep 17 00:00:00 2001 From: sarahfarnborough-3di Date: Wed, 1 Jul 2026 07:02:49 +0000 Subject: [PATCH 2/8] adding content to capabilites articles --- source/About-manipulation.rst | 23 +++++++++++++++++++++++ source/About-motion-planning.rst | 23 +++++++++++++++++++++++ source/About-navigation.rst | 24 ++++++++++++++++++++++++ source/About-perception.rst | 27 +++++++++++++++++++++++++-- source/About-simulation.rst | 23 +++++++++++++++++++++++ 5 files changed, 118 insertions(+), 2 deletions(-) diff --git a/source/About-manipulation.rst b/source/About-manipulation.rst index 4861f95667e..4e6a4f55d54 100644 --- a/source/About-manipulation.rst +++ b/source/About-manipulation.rst @@ -14,3 +14,26 @@ 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 + +* + +* + +* + +Community-contributed packages + +* `Move it `_ ` + +* + +* + +Related content (placeholder) +----------------------------- + +FAQs (placeholder) +------------------ + diff --git a/source/About-motion-planning.rst b/source/About-motion-planning.rst index c490e384dd2..ee068b688f5 100644 --- a/source/About-motion-planning.rst +++ b/source/About-motion-planning.rst @@ -14,3 +14,26 @@ Summary Motion planning capabilities enable the control of complex chains of actuators and links, such as those found in industrial manipulators. These capabilities let you think about where you want the end effector to be and not worry about controlling every actuator individually. + +Core ROS packages + +* + +* + +* + +Community-contributed packages + +* `Move it `_ ` + +* + +* + +Related content (placeholder) +----------------------------- + +FAQs (placeholder) +------------------ + diff --git a/source/About-navigation.rst b/source/About-navigation.rst index 883475e2089..26999564ae4 100644 --- a/source/About-navigation.rst +++ b/source/About-navigation.rst @@ -13,3 +13,27 @@ Summary ------- Navigation capabilities are focused on producing maps of an environment, then planning a path through that environment for a mobile robot to travel to its destination, and finally controlling the robot to move along that path - including handling unexpected events that arise as it moves. + +Core ROS packages + +* + +* + +* + +Community-contributed packages + +* `Navigation 2 `_ ` + +* + +* + +Related content (placeholder) +----------------------------- + +FAQs (placeholder) +------------------ + + diff --git a/source/About-perception.rst b/source/About-perception.rst index a138772702c..55791f93ffa 100644 --- a/source/About-perception.rst +++ b/source/About-perception.rst @@ -1,7 +1,7 @@ Perception ========== -Perception capabilities help your robot understand and interpret the world around it by turning raw sensor data into a unified view of the world. +Perception capabilities help your robot to understand and interpret the world around. This article summarizes ROS developer tools and guidance available to help with perception. **Area: perception, capabilities | Content-type: about | Experience: beginner, intermediate, expert** @@ -13,5 +13,28 @@ 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 canuse to plan and control its actions. +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, the combining of data from multiple sensors into a unified view of the world. + +Core ROS packages + +* + +* + +* + +Community-contributed packages + +* + +* + +* + +Related content (placeholder) +----------------------------- + +FAQs (placeholder) +------------------ + diff --git a/source/About-simulation.rst b/source/About-simulation.rst index a6506ea8342..351d80aadaa 100644 --- a/source/About-simulation.rst +++ b/source/About-simulation.rst @@ -14,3 +14,26 @@ 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 software as your real robot within physically accurate virtual environments. + +Core ROS packages + +* + +* + +* + +Community-contributed packages + +* + +* + +* + +Related content (placeholder) +----------------------------- + +FAQs (placeholder) +------------------ + From a7c50fbec66284e6d161108fceb93289c355f211 Mon Sep 17 00:00:00 2001 From: sarahfarnborough-3di Date: Mon, 6 Jul 2026 14:36:59 +0000 Subject: [PATCH 3/8] adding content to capabilites articles --- source/About-manipulation.rst | 9 +++++++-- source/About-motion-planning.rst | 9 +++++++-- source/About-navigation.rst | 8 ++++++-- source/About-perception.rst | 7 ++++++- source/About-simulation.rst | 11 +++++++---- 5 files changed, 33 insertions(+), 11 deletions(-) diff --git a/source/About-manipulation.rst b/source/About-manipulation.rst index 4e6a4f55d54..adbe5107486 100644 --- a/source/About-manipulation.rst +++ b/source/About-manipulation.rst @@ -17,6 +17,9 @@ Manipulation capabilities include analysis of the environment around a manipulat Core ROS packages +QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? +If so, please provide them. + * * @@ -25,7 +28,10 @@ Core ROS packages Community-contributed packages -* `Move it `_ ` +QUESTION FOR THE REVIEWER: Are there any other community-contributed packages that should be listed here? +If so, please provide them. + +* `Move it `_ * @@ -36,4 +42,3 @@ Related content (placeholder) FAQs (placeholder) ------------------ - diff --git a/source/About-motion-planning.rst b/source/About-motion-planning.rst index ee068b688f5..009b21a735f 100644 --- a/source/About-motion-planning.rst +++ b/source/About-motion-planning.rst @@ -17,6 +17,9 @@ These capabilities let you think about where you want the end effector to be and Core ROS packages +QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? +If so, please provide them. + * * @@ -25,7 +28,10 @@ Core ROS packages Community-contributed packages -* `Move it `_ ` +QUESTION FOR THE REVIEWER: Are there any other community-contributed packages that should be listed here? +If so, please provide them. + +* `Move it `_ * @@ -36,4 +42,3 @@ Related content (placeholder) FAQs (placeholder) ------------------ - diff --git a/source/About-navigation.rst b/source/About-navigation.rst index 26999564ae4..94407c99f47 100644 --- a/source/About-navigation.rst +++ b/source/About-navigation.rst @@ -16,6 +16,9 @@ Navigation capabilities are focused on producing maps of an environment, then pl Core ROS packages +QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? +If so, please provide them. + * * @@ -24,6 +27,9 @@ Core ROS packages 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 `_ ` * @@ -35,5 +41,3 @@ Related content (placeholder) FAQs (placeholder) ------------------ - - diff --git a/source/About-perception.rst b/source/About-perception.rst index 55791f93ffa..b2227c96904 100644 --- a/source/About-perception.rst +++ b/source/About-perception.rst @@ -18,6 +18,9 @@ This includes sensor fusion, the combining of data from multiple sensors into a Core ROS packages +QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? +If so, please provide them. + * * @@ -26,6 +29,9 @@ Core ROS packages Community-contributed packages +QUESTION FOR THE REVIEWER: Are there any community-contributed packages that should be listed here? +If so, please provide them. + * * @@ -37,4 +43,3 @@ Related content (placeholder) FAQs (placeholder) ------------------ - diff --git a/source/About-simulation.rst b/source/About-simulation.rst index 351d80aadaa..a686d73cc0d 100644 --- a/source/About-simulation.rst +++ b/source/About-simulation.rst @@ -17,6 +17,9 @@ Simulation capabilities support development by making it possible to use the sam Core ROS packages +QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? +If so, please provide them. + * * @@ -25,15 +28,15 @@ Core ROS packages Community-contributed packages -* +QUESTION FOR THE REVIEWER: Are there any other community-contributed packages that should be listed here? +If so, please provide them. -* +* `Gazebo `_ -* +* `Webots `_ Related content (placeholder) ----------------------------- FAQs (placeholder) ------------------ - From 8d4a533d2bc05171d60baa9bf157cd9facff1333 Mon Sep 17 00:00:00 2001 From: sarahfarnborough-3di Date: Mon, 13 Jul 2026 15:26:48 +0000 Subject: [PATCH 4/8] capabilities - peer review updates --- source/About-manipulation.rst | 21 ++++++++++++++------- source/About-motion-planning.rst | 26 +++++++++++++++++--------- source/About-navigation.rst | 26 ++++++++++++++++---------- source/About-perception.rst | 25 +++++++++++++++++-------- source/About-simulation.rst | 25 ++++++++++++++++++------- 5 files changed, 82 insertions(+), 41 deletions(-) diff --git a/source/About-manipulation.rst b/source/About-manipulation.rst index adbe5107486..09f16d5af95 100644 --- a/source/About-manipulation.rst +++ b/source/About-manipulation.rst @@ -1,7 +1,7 @@ Manipulation =============== -Manipulation capabilities enable robots to analyze their environment and control end effectors to perform tasks like picking and placing objects. +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** @@ -20,25 +20,32 @@ Core ROS packages QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? If so, please provide them. -* +* Placeholder -* +* Placeholder -* +* Placeholder 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 `_ +* `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/About-motion-planning.rst b/source/About-motion-planning.rst index 009b21a735f..bd02936290b 100644 --- a/source/About-motion-planning.rst +++ b/source/About-motion-planning.rst @@ -1,7 +1,7 @@ Motion planning =============== -Motion planning capabilities enable you to control complex chains of actuators and links by focusing on where you want the end effector to be. +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** @@ -12,33 +12,41 @@ This article summarizes ROS developer tools and guidance available to help with Summary ------- -Motion planning capabilities enable the control of complex chains of actuators and links, such as those found in industrial manipulators. -These capabilities let you think about where you want the end effector to be and not worry about controlling every actuator individually. +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 QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? If so, please provide them. -* +* Placeholder -* +* Placeholder -* +* Placeholder 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 `_ +* `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/About-navigation.rst b/source/About-navigation.rst index 94407c99f47..6f09be9d891 100644 --- a/source/About-navigation.rst +++ b/source/About-navigation.rst @@ -1,7 +1,7 @@ Navigation ========== -Navigation capabilities enable a mobile robot to map its environment, plan a path to its destination, and safely follow that path while adapting to unexpected changes. +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** @@ -12,32 +12,38 @@ This article summarizes ROS developer tools and guidance available to help with Summary ------- -Navigation capabilities are focused on producing maps of an environment, then planning a path through that environment for a mobile robot to travel to its destination, and finally controlling the robot to move along that path - including handling unexpected events that arise as it moves. +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 QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? If so, please provide them. -* - -* +* Placeholder -* +* Placeholder 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 `_ ` +* `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/About-perception.rst b/source/About-perception.rst index b2227c96904..083eb416caf 100644 --- a/source/About-perception.rst +++ b/source/About-perception.rst @@ -1,7 +1,7 @@ Perception ========== -Perception capabilities help your robot to understand and interpret the world around. +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** @@ -14,32 +14,41 @@ 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, the combining of data from multiple sensors into a unified view of the world. +This includes sensor fusion (combining data from multiple sensors into a unified view of the world). Core ROS packages QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? If so, please provide them. -* +* Placeholder -* +* Placeholder -* +* Placeholder 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/About-simulation.rst b/source/About-simulation.rst index a686d73cc0d..2696f0fa09a 100644 --- a/source/About-simulation.rst +++ b/source/About-simulation.rst @@ -2,7 +2,7 @@ Simulation ========== 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 help with simulation. +This article summarizes ROS developer tools and guidance available to enable simulation. **Area: simulation, capabilities | Content-type: about | Experience: beginner, intermediate, expert** @@ -13,30 +13,41 @@ 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 software as your real robot within physically accurate virtual 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 QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? If so, please provide them. -* +* Placeholder -* +* Placeholder -* +* Placeholder Community-contributed packages QUESTION FOR THE REVIEWER: Are there any other community-contributed packages that should be listed here? If so, please provide them. -* `Gazebo `_ +* `Gazebo `_: A toolbox of development libraries and cloud services for simulation. -* `Webots `_ +* `Webots `_: A robotics simulator for modeling, programming, and testing robots in a realistic 3D physics environment. + +* Placeholder Related content (placeholder) ----------------------------- +* Example + +* Example + FAQs (placeholder) ------------------ + +* Example + +* Example + From 7714f39ebc63e16644f8d634f256e3bcbdfa998d Mon Sep 17 00:00:00 2001 From: sarahfarnborough-3di Date: Thu, 23 Jul 2026 10:40:50 +0000 Subject: [PATCH 5/8] Fixing about capabilities articles --- source/About-motion-planning.rst | 7 +++++-- source/About-navigation.rst | 7 ++++--- source/About-perception.rst | 3 +-- source/About-simulation.rst | 5 ++--- 4 files changed, 12 insertions(+), 10 deletions(-) diff --git a/source/About-motion-planning.rst b/source/About-motion-planning.rst index bd02936290b..e2edfc58ac4 100644 --- a/source/About-motion-planning.rst +++ b/source/About-motion-planning.rst @@ -12,9 +12,12 @@ This article summarizes ROS developer tools and guidance available to help with 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. +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 ` +For mobile robots, ROS also supports navigation capabilities. +See :doc:`About navigation ` Core ROS packages diff --git a/source/About-navigation.rst b/source/About-navigation.rst index 6f09be9d891..679b54825c2 100644 --- a/source/About-navigation.rst +++ b/source/About-navigation.rst @@ -12,9 +12,10 @@ This article summarizes ROS developer tools and guidance available to help with 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. +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 ` +ROS also includes motion planning capabilities. +:doc:`See About motion planning ` Core ROS packages @@ -44,6 +45,6 @@ Related content (placeholder) FAQs (placeholder) ------------------ -* Example +* Example * Example diff --git a/source/About-perception.rst b/source/About-perception.rst index 083eb416caf..bedd33bf67b 100644 --- a/source/About-perception.rst +++ b/source/About-perception.rst @@ -48,7 +48,6 @@ Related content (placeholder) FAQs (placeholder) ------------------ -* Example - * Example +* Example diff --git a/source/About-simulation.rst b/source/About-simulation.rst index 2696f0fa09a..ff9e2541b9f 100644 --- a/source/About-simulation.rst +++ b/source/About-simulation.rst @@ -33,7 +33,7 @@ If so, please provide them. * `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. +* `Webots `_: A robotics simulator for modeling, programming, and testing robots in a realistic 3D physics environment. * Placeholder @@ -47,7 +47,6 @@ Related content (placeholder) FAQs (placeholder) ------------------ -* Example - * Example +* Example From 58a24f635ab7c7f0011b9b0d5cea35836673efe0 Mon Sep 17 00:00:00 2001 From: sarahfarnborough-3di Date: Tue, 11 Aug 2026 08:21:05 +0000 Subject: [PATCH 6/8] Update capabilities articles --- source/About-manipulation.rst | 40 +++++++++++++++++------------------ source/About-simulation.rst | 35 ++++++++++++------------------ 2 files changed, 33 insertions(+), 42 deletions(-) diff --git a/source/About-manipulation.rst b/source/About-manipulation.rst index 09f16d5af95..04a8ca2da0d 100644 --- a/source/About-manipulation.rst +++ b/source/About-manipulation.rst @@ -15,37 +15,35 @@ 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 +.. Core ROS packages + * Placeholder -QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? -If so, please provide them. + * Placeholder -* Placeholder - -* Placeholder - -* Placeholder + * Placeholder 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 +* `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. -* Placeholder +* `RoboPlan `_: A Rust and C++ library providing a planning framework for robotics and automated systems. -Related content (placeholder) ------------------------------ +* `PyRoboPlan `_: A Python library for modeling robot kinematics and dynamics. -* Example +.. Related content (placeholder) + ------------------------------ + * Example -* Example + * Example -FAQs (placeholder) ------------------- -* Example + FAQs (placeholder) + ------------------ + * Example -* Example + * Example diff --git a/source/About-simulation.rst b/source/About-simulation.rst index ff9e2541b9f..9329050c61c 100644 --- a/source/About-simulation.rst +++ b/source/About-simulation.rst @@ -15,38 +15,31 @@ 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 +.. Core ROS packages + * Placeholder -QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? -If so, please provide them. + * Placeholder -* Placeholder - -* Placeholder - -* Placeholder + * Placeholder Community-contributed packages -QUESTION FOR THE REVIEWER: Are there any other community-contributed packages that should be listed here? -If so, please provide them. - * `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. -* Placeholder - -Related content (placeholder) ------------------------------ +* `Isaac Sim `_: A cloud-based simulation platform for developing and testing robotic applications. -* Example +* `O3DE `_: An open-source, cross-platform 3D game engine for creating immersive experiences. -* Example +.. Related content (placeholder) + ----------------------------- + * Example -FAQs (placeholder) ------------------- + * Example -* Example + FAQs (placeholder) + ------------------ + * Example -* Example + * Example From 1fb2c00f788d98ba0f0ff351a3548b472d419fed Mon Sep 17 00:00:00 2001 From: sarahfarnborough-3di Date: Tue, 11 Aug 2026 09:00:26 +0000 Subject: [PATCH 7/8] Move draft content into capabilities section and update toc --- source/About-manipulation.rst | 49 ----------------- source/About-motion-planning.rst | 55 ------------------- source/About-navigation.rst | 50 ----------------- source/About-perception.rst | 53 ------------------ source/About-simulation.rst | 45 --------------- source/Capabilities/About-Manipulation.rst | 44 ++++++++++++++- source/Capabilities/About-Motion-planning.rst | 50 ++++++++++++++++- source/Capabilities/About-Navigation.rst | 45 ++++++++++++++- source/Capabilities/About-Perception.rst | 48 +++++++++++++++- source/Capabilities/About-Simulation.rst | 40 +++++++++++++- source/index.rst | 5 -- 11 files changed, 221 insertions(+), 263 deletions(-) delete mode 100644 source/About-manipulation.rst delete mode 100644 source/About-motion-planning.rst delete mode 100644 source/About-navigation.rst delete mode 100644 source/About-perception.rst delete mode 100644 source/About-simulation.rst diff --git a/source/About-manipulation.rst b/source/About-manipulation.rst deleted file mode 100644 index 04a8ca2da0d..00000000000 --- a/source/About-manipulation.rst +++ /dev/null @@ -1,49 +0,0 @@ -Manipulation -=============== - -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: - -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 - * Placeholder - - * Placeholder - - * Placeholder - -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/About-motion-planning.rst b/source/About-motion-planning.rst deleted file mode 100644 index e2edfc58ac4..00000000000 --- a/source/About-motion-planning.rst +++ /dev/null @@ -1,55 +0,0 @@ -Motion planning -=============== - -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: - -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 - -QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? -If so, please provide them. - -* Placeholder - -* Placeholder - -* Placeholder - -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/About-navigation.rst b/source/About-navigation.rst deleted file mode 100644 index 679b54825c2..00000000000 --- a/source/About-navigation.rst +++ /dev/null @@ -1,50 +0,0 @@ -Navigation -========== - -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: - -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 - -QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? -If so, please provide them. - -* Placeholder - -* Placeholder - -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/About-perception.rst b/source/About-perception.rst deleted file mode 100644 index bedd33bf67b..00000000000 --- a/source/About-perception.rst +++ /dev/null @@ -1,53 +0,0 @@ -Perception -========== - -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: - -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 - -QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? -If so, please provide them. - -* Placeholder - -* Placeholder - -* Placeholder - -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/About-simulation.rst b/source/About-simulation.rst deleted file mode 100644 index 9329050c61c..00000000000 --- a/source/About-simulation.rst +++ /dev/null @@ -1,45 +0,0 @@ -Simulation -========== - -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: - -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 - * Placeholder - - * Placeholder - - * Placeholder - -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/Capabilities/About-Manipulation.rst b/source/Capabilities/About-Manipulation.rst index f556bd9421d..209fd3a6a33 100644 --- a/source/Capabilities/About-Manipulation.rst +++ b/source/Capabilities/About-Manipulation.rst @@ -7,7 +7,49 @@ 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 + * Placeholder + + * Placeholder + + * Placeholder + +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..854efa72c83 100644 --- a/source/Capabilities/About-Motion-planning.rst +++ b/source/Capabilities/About-Motion-planning.rst @@ -5,9 +5,55 @@ 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 + +QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? +If so, please provide them. + +* Placeholder + +* Placeholder + +* Placeholder + +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..0012f616ade 100644 --- a/source/Capabilities/About-Navigation.rst +++ b/source/Capabilities/About-Navigation.rst @@ -7,7 +7,50 @@ 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 + +QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? +If so, please provide them. + +* Placeholder + +* Placeholder + +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..6f854038a2c 100644 --- a/source/Capabilities/About-Perception.rst +++ b/source/Capabilities/About-Perception.rst @@ -7,7 +7,53 @@ 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 + +QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? +If so, please provide them. + +* Placeholder + +* Placeholder + +* Placeholder + +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..d454748278d 100644 --- a/source/Capabilities/About-Simulation.rst +++ b/source/Capabilities/About-Simulation.rst @@ -8,7 +8,45 @@ 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 + * Placeholder + + * Placeholder + + * Placeholder + +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 8c91ca16c36..a3f9527fc40 100644 --- a/source/index.rst +++ b/source/index.rst @@ -20,11 +20,6 @@ ROS 2 Documentation Contact Glossary Citations - About-manipulation - About-motion-planning - About-navigation - About-perception - About-simulation **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. From 1b1913d60f722cf39228099766d2c716a5c25b94 Mon Sep 17 00:00:00 2001 From: sarahfarnborough-3di Date: Tue, 11 Aug 2026 10:46:52 +0000 Subject: [PATCH 8/8] Update capabilities articles - add core packages sentence --- source/Capabilities/About-Manipulation.rst | 7 ++----- source/Capabilities/About-Motion-planning.rst | 11 ++--------- source/Capabilities/About-Navigation.rst | 9 ++------- source/Capabilities/About-Perception.rst | 9 +-------- source/Capabilities/About-Simulation.rst | 7 ++----- 5 files changed, 9 insertions(+), 34 deletions(-) diff --git a/source/Capabilities/About-Manipulation.rst b/source/Capabilities/About-Manipulation.rst index 209fd3a6a33..c7a027f1c8a 100644 --- a/source/Capabilities/About-Manipulation.rst +++ b/source/Capabilities/About-Manipulation.rst @@ -21,12 +21,9 @@ 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 - * Placeholder +Core ROS packages - * Placeholder - - * Placeholder +There are no core packages for this area. Community-contributed packages diff --git a/source/Capabilities/About-Motion-planning.rst b/source/Capabilities/About-Motion-planning.rst index 854efa72c83..97f6a2e1a9c 100644 --- a/source/Capabilities/About-Motion-planning.rst +++ b/source/Capabilities/About-Motion-planning.rst @@ -21,18 +21,11 @@ This can involve controlling complex chains of actuators and links, such as thos 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 ` +See :doc:`About navigation ` Core ROS packages -QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? -If so, please provide them. - -* Placeholder - -* Placeholder - -* Placeholder +There are no core packages for this area. Community-contributed packages diff --git a/source/Capabilities/About-Navigation.rst b/source/Capabilities/About-Navigation.rst index 0012f616ade..8ee54352fb0 100644 --- a/source/Capabilities/About-Navigation.rst +++ b/source/Capabilities/About-Navigation.rst @@ -21,16 +21,11 @@ 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 ` +:doc:`See About motion planning ` Core ROS packages -QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? -If so, please provide them. - -* Placeholder - -* Placeholder +There are no core packages for this area. Community-contributed packages diff --git a/source/Capabilities/About-Perception.rst b/source/Capabilities/About-Perception.rst index 6f854038a2c..2887beea558 100644 --- a/source/Capabilities/About-Perception.rst +++ b/source/Capabilities/About-Perception.rst @@ -24,14 +24,7 @@ This includes sensor fusion (combining data from multiple sensors into a unified Core ROS packages -QUESTION FOR THE REVIEWER: Are there any core ROS packages that should be listed here? -If so, please provide them. - -* Placeholder - -* Placeholder - -* Placeholder +There are no core packages for this area. Community-contributed packages diff --git a/source/Capabilities/About-Simulation.rst b/source/Capabilities/About-Simulation.rst index d454748278d..9ef9b54af4d 100644 --- a/source/Capabilities/About-Simulation.rst +++ b/source/Capabilities/About-Simulation.rst @@ -22,12 +22,9 @@ 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 - * Placeholder +Core ROS packages - * Placeholder - - * Placeholder +There are no core packages for this area. Community-contributed packages