Restructure integration page

Author: urfeex

doc/ros2_controller_vs_driver.rst

@@ -3,7 +3,10 @@
 ROS 2 integration paths
 =======================
 
-There are different paths to use a Universal Robots arm with ROS 2:
+There are different paths to use a Universal Robots arm with ROS 2.
+
+ROS 2 on the robot
+------------------
 
 1. Starting with PolyScope X v10.7.0 the robots have builtin ROS 2 support that allows some amount
    of interaction with the robot without the need of any ROS 2 driver. In particular, the robot
@@ -12,19 +15,41 @@ There are different paths to use a Universal Robots arm with ROS 2:
    <https://docs.universal-robots.com/polyscopex-ros2/v10.7/Appendix/Appendix%202.html>`_ for more
    information.
 
-   .. note::
-
-     The builtin ROS 2 support will only be compatible with the ROS distribution running on the
-     robot. For example, PolyScope 10.7.0 is running ROS 2 Humble. It should not be used with
-     any other distribution.
 
 2. Starting with PolyScope X v10.7.0 there is basic URScript support for ROS 2. This allows
    publishing to and subscribing from ROS 2 topics directly in URScript as well as calling ROS 2
    services and actions from URScript. See `Basic Usage in URScript
    <https://docs.universal-robots.com/polyscopex-ros2/v10.7/Basic%20Usage%20in%20URScript.html>`_
    for details on that.
-3. Using the :ref:`ur_robot_driver` which is a ROS 2 driver that offers full `ros2_control
-   <https://control.ros.org>`_ compatibility. This allows visualizing the robot's state in RViz and
-   control its motions through ROS 2. It works with CB3, e-Series (PolyScope 5) and PolyScope X robots.
 
-   The ROS 2 driver uses the :ref:`ur_client_library` to communicate with the robot.
+.. note::
+
+  The builtin ROS 2 support will only be compatible with the ROS distribution running on the
+  robot. For example, PolyScope 10.7.0 is running ROS 2 Humble. It should not be used with
+  any other distribution.
+
+Control the robot from an external ROS 2 application
+----------------------------------------------------
+
+Using the :ref:`ur_robot_driver` which is a ROS 2 driver that offers full `ros2_control
+<https://control.ros.org>`_ compatibility. This allows visualizing the robot's state in RViz and
+control its motions through ROS 2. It works with CB3, e-Series (PolyScope 5) and PolyScope X robots.
+
+Use the ROS 2 driver to build your own application on the ROS framework leveraging available
+drivers for other hardware components, sensor integration and ready-to-use software functionalities
+such as collision-aware path-planning.
+
+The ROS 2 driver uses the :ref:`ur_client_library` to communicate with the robot.
+
+Build your own external application using the C++ library
+---------------------------------------------------------
+
+With the standalone C++ library ":ref:`ur_client_library`" you can control a UR robot from a remote
+application. It offers a lot of the functionality that traditionally the robot's teach pendant
+would be used for. This includes
+
+- Controlling the robot's power state
+- Controlling the robot's motion
+- Controlling the robot's I/O ports
+- Access to low-level interfaces such as the Primary Interface, Dashboard Interface and the
+  Realtime Data Exchange (RTDE).