Original diagram file: https://drive.google.com/file/d/1G_UPFRZTcWDL_3d7kT5J09jIaEq519ng/view?usp=sharing
Links:
- RMW interface: https://design.ros2.org/articles/ros_middleware_interface.html
- ROS(2) controls: https://control.ros.org/master/index.html
- ROS(2) common interfaces: https://github.com/ros2/common_interfaces
- ROS(2) planning (MoveIt, Navigation): https://github.com/ros-planning, MoveIt https://moveit.ros.org
- Gazebo: https://gazebosim.org/home