Landing page

conf.py

@@ -19,7 +19,7 @@
 
 # -- Project information -----------------------------------------------------
 
-project = "Universal Robots ROS 2 Documentation"
+project = "Universal Robots ROS 2 Driver Documentation"
 copyright = "2024, Universal Robots A/S"
 author = "Universal Robots A/S"
 
@@ -141,8 +141,8 @@
 latex_documents = [
     (
         master_doc,
-        "ur_documentation.tex",
-        "ur\\_documentation Documentation",
+        "ur_ros2_driver_documentation.tex",
+        "UR ROS 2 Driver Documentation",
         "Universal Robots A/S",
         "manual",
     ),
@@ -153,7 +153,7 @@
 
 # One entry per manual page. List of tuples
 # (source start file, name, description, authors, manual section).
-man_pages = [(master_doc, "ur_documentation", "ur_documentation Documentation", [author], 1)]
+man_pages = [(master_doc, "ur_ros2_driverdocumentation", "UR ROS 2 Driver Documentation", [author], 1)]
 
 
 # -- Options for Texinfo output ----------------------------------------------
@@ -164,7 +164,7 @@
 texinfo_documents = [
     (
         master_doc,
-        "ur_documentation",
+        "ur_ros2_driver_documentation",
         "ur_documentation Documentation",
         author,
         "ur_documentation",
@@ -203,7 +203,7 @@
 html_context = {
     "display_github": True,
     "github_user": "UniversalRobots",
-    "github_repo": "Universal_Robots_ROS2_Documentation",
+    "github_repo": "Universal_Robots_ROS_Documentation",
     "github_version": repos_file_branch + "/",
     "conf_py_path": "/",
     "source_suffix": source_suffix,
@@ -215,4 +215,4 @@
     'css/ur_theme.css',
 ]
 
-github_url = "https://github.com/UniversalRobots/Universal_Robots_ROS2_Documentation"
+github_url = "https://github.com/UniversalRobots/Universal_Robots_ROS_Documentation"

doc/ros2_controller_vs_driver.rst

@@ -0,0 +1,65 @@
+.. _ros2_controller_vs_driver:
+
+ROS 2 integration paths
+=======================
+
+There are different paths to use a Universal Robots arm with ROS 2.
+
+ROS 2 on the robot
+------------------
+
+.. image:: /_static/images/ros2_urscript.png
+   :alt: URScript for a subscruber
+   :align: right
+   :width: 400px
+
+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.
+
+
+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.
+
+.. 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
+----------------------------------------------------
+
+.. image:: ur_tutorials/my_robot_cell/doc/view_workspace.png
+   :alt: Visualizing a robot workspace using ROS 2
+   :align: right
+   :width: 400px
+
+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).

index.rst

@@ -1,9 +1,45 @@
 .. _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.
+
+.. image:: _static/images/ros2_driver.jpeg
+   :alt: UR ROS 2 driver
+   :align: right
+   :width: 600px
+
+
+This documentation covers everything around the ROS (Robot Operating System) 2 driver packages for Universal Robots
+manipulators and the standalone Universal Robots Client Library (C++).
+
+With those packages it is possible to control a Universal Robots arm from an external application
+either directly using a C++ API (see :ref:`ur_client_library`) or using ROS 2 (see :ref:`ur_robot_driver`).
+
+This allows developing robot applications where one or more UR robots are a part of the complete
+application. Some key use cases are:
+
+- **External Monitoring and Control**: It allows you to monitor and control UR robots from an
+  external application. This can be useful for tasks like external vision systems for part
+  detection or external user interfaces to control robot programs.
+
+- **Ease of Use**: The *ur_client_library* has minimal external dependencies, primarily relying on standard
+  C++ libraries, making it straightforward to integrate and maintain.
+
+- **Integration with ROS / ROS 2**: The *ur_client_library* serves as the foundation for the ROS 2
+  driver, making it easier to integrate UR robots into ROS-based systems. ROS supports multiple
+  programming languages, primarily C++ and Python, making it easier to integrate with other
+  systems and tools. It also allows for communication between different nodes, enabling complex
+  robotic systems. The Universal Robots ROS packages offer everything from Visualization, over
+  simulation up to controlling a real robot bridging the great work of the ROS community with
+  Universal Robots manipulators.
+
+
+.. 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:
@@ -18,3 +54,4 @@ This repositorycontains documentation and ROS 2 packages for Universal Robots.
    Tutorial examples <doc/ur_tutorials/tutorial_index.rst>
    doc/migration_notes.rst
    doc/build_status
+   doc/ros2_controller_vs_driver