WIP: Improve landing page

Author: urfeex

doc/ros2_controller_vs_driver.rst

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+.. _ros2_controller_vs_driver:
+
+ROS 2 integration paths
+=======================
+
+There are different paths to use a Universal Robots arm with ROS 2:
+
+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
+   publishes a lot of status information and offers services  for example to control the robot's
+   I/O ports. See the `Topics and Services overview
+   <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.

index.rst

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 .. _documentation_home:
 
-Welcome to the Universal Robots ROS 2 documentation!
-====================================================
+Welcome to the Universal Robots ROS 2 driver documentation!
+===========================================================
 
-This repositorycontains documentation and ROS 2 packages for Universal Robots.
+This documentation covers the ROS 2 packages for Universal Robots robots and the standalone Universal Robots
+Client Library. 
+
+Here comes some introduction to the ROS 2 driver. With images
+
+.. note::
+   There is also builtin ROS 2 support for PolyScope X robots, see the `PolyScope X ROS 2 documentation <https://docs.universal-robots.com/polyscopex-ros2/v10.7/index.html>`_ and / or :ref:`ros2_controller_vs_driver` for details.
+
+Table of Contents
+-----------------
 
 .. toctree::
    :titlesonly: