Package map

All application packages live under ros_ws/src and are named restocker_*. Runtime packages must never depend on restocker_bringup. Benchmarks launch bringup by name as a subprocess so they measure the same public surface an operator drives.

Package	Responsibility	Must not own
restocker_interfaces	Backend-neutral msgs / srvs / actions	Application behavior
restocker_description	Robot + workcell Xacro, frames, geometry YAML	Controllers or tasks
restocker_gazebo	Worlds, products, ground-truth adapter, attachment plugin	Business semantics
restocker_control	Controllers, health, joint → telemetry adapter	Planning or task semantics
restocker_moveit_config	SRDF, OMPL, kinematics, move_group	World-state authority
restocker_world_state	Persistent semantic truth and snapshots	Learned inference
restocker_perception	Observations and backend adapters	Motion commands
restocker_task_executor	Task machine, candidates, coordinator, ports, projector	Joint-level control
restocker_reasoner	Optional constrained recovery recommendations	Safety authority
restocker_recovery	Bounded deterministic recovery primitives	Arbitrary model actions
restocker_bringup	Launch composition (baseline, simulation)	Reusable runtime logic
restocker_benchmarks	Seeded scenarios and metrics	Private runtime coupling

restocker_interfaces (leaf)
        ▲
 description · gazebo · control · moveit_config · world_state · perception
        ▲
 task_executor · reasoner · recovery
        ▲
 bringup (composition only) · benchmarks (subprocess client)

Outside ros_ws/src

Path	Role
flake.nix / flake.lock	Pinned Nix environment
justfile	Human task interface
website/	This public Docusaurus site
scripts/	Doctor, demo, workspace helpers

References

• Literature: Coleman et al., MoveIt case study
• Reference implementation: moveit2
• This project: package READMEs under ros_ws/src/*/README.md