.. _overview:

Overview
========

.. toctree::
   :maxdepth: 1
   :hidden:

   overview/architecture
   overview/package

.. image:: tutorials/images/etc/robot_series.png
   :alt: robot_series
   :width: 100%
   :align: center

.. rubric:: Purpose

This package provides control functionality for all Doosan robot models in the **ROS 2 Humble** environment.

.. rubric:: Features

- Supports all Doosan robot models (A/M/H/E/P series)
- Virtual emulator mode for development and testing without hardware
- Integrated DRFL (Doosan Robot Framework Library) for direct command-level access
- Optional real-time control interface for low-latency communication
- Pre-configured launch files for RViz2, Gazebo, and MoveIt 2
- MoveIt 2 integration for motion planning and manipulation tasks
- Gazebo Harmonic simulation support for dynamic testing and validation
- RViz2-based robot state visualization and planning preview
- Includes sample applications and demo scripts for quick setup and usage

.. rubric:: License

All packages are distributed under **Apache License 2.0**.  
See the LICENSE file for details.

.. rubric::
   :ref:`Architecture <architecture>`

.. rubric:: 
   :ref:`Packages <package>`