Robot Operating System (ROS)

  1. Manipulation and Control
    1. MoveIt Motion Planning Framework
      1. System Architecture
        1. Core Components
          1. Integration Points
          2. MoveIt Setup
            1. Setup Assistant
              1. Configuration Workflow
                1. URDF Integration
                2. Motion Planning
                  1. Planning Algorithms
                    1. Planning Scene
                      1. Collision Checking
                        1. Trajectory Optimization
                        2. Kinematics
                          1. Forward Kinematics
                            1. Inverse Kinematics
                              1. Kinematic Solvers
                              2. Control Integration
                                1. Controller Managers
                                  1. Hardware Abstraction
                                    1. Real-time Control
                                    2. Manipulation Planning
                                      1. Pick and Place
                                        1. Cartesian Planning
                                          1. Constraint-based Planning

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                                        13. Navigation and Path Planning

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                                        15. Perception and Sensor Integration