The following diagram is 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 the ROS-I wiki page (http://wiki.ros.org/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 UIs for working with industrial robots that may be implemented in the future
- The ROS Layer: This is the base layer in which all communications are taking place
- The MoveIt! Layer: The MoveIt! ...
