Fundamentals
Read this subsection before the rest of Architecture if ROS, Gazebo, or MoveIt are new to you. It teaches only what this project uses, in order from workcell geometry to classical-vs-learned authority.
| Page | Concept |
|---|---|
| Manipulators and frames | Arms, grippers, workcells, poses |
| ROS 2 | Nodes, topics, services, actions, launch |
| URDF, Xacro, and TF2 | Robot description and live transforms |
| Gazebo and ros2_control | Simulation and controllers |
| MoveIt 2 | Planning scene, OMPL, execution |
| Perception | RGB-D, poses, obstacle boxes |
| World state vs planning scene | Inventory authority vs collision geometry |
| Classical vs learned | Why models stay advisory |
Audience assumption: you already know general software engineering, C++/Python, and 3D transforms at a game-dev level. We do not reteach language basics, only robotics conventions that differ.