ROS Programming: Building Powerful Robots

Block diagram of ROS-Industrial packages

The following diagram a simple block diagram representation of ROS-I packages, which are organized on top of ROS. We can see the ROS-I layer on top of the ROS layers. We can see a brief description of each of the layers for better understanding. The following diagram is taken from ROS-I wiki page (http://wiki.ros.org/Industrial).

Figure 2: The block diagram of ROS-Industrial

• The ROS GUI: This layer includes the ROS plugin-based GUI tools layer, which consists of tools such as RViz, rqt_gui, and so on
• The ROS-I GUI: These GUIs are standard industrial UI for working with industrial robots which may be ...