Architecture Overview
How the software is put together once you already know the Introduction (problem, scenario, robot, and workcell).
Classical planning and world state stay authoritative. Wrist perception and overhead depth obstacles supply required evidence on the default path; the recovery reasoner is optional and advisory. If ROS, Gazebo, or MoveIt are new to you, read Fundamentals first.
| Page | What it covers |
|---|---|
| Workcell and frames | TF tree, surveyed YAML, frame rules |
| Simulation and control | Gazebo, ros2_control, telemetry, baseline composition |
| World state | Semantic authority, reservations, trust boundaries |
| Motion planning | MoveIt, OMPL, planning-scene projector |
| Task execution | Control path, state machine, RestockProduct |
| Manipulation | Grasp and placement candidates |
| Ports | World / motion / gripper / attachment contracts |
| Perception and models | Default camera evidence and optional advisory reasoner |
| Glossary | Terms used in this section |
Package inventory lives under Reference: Package map.