Dora packages naming

[bobd988]

As Dora continues to grow and various development activities take place, it's important to inform people about the overall structure and how they fit into the bigger picture. Here are some modules we might unify when communicating with those unfamiliar with Dora.

Feature	ROS2	ISAAC	DORA	Harix OS	Conclusion
Robot control	ROS2_control	Motion Generation Extension	NA	RCU	manipulator abstract interface
Robot Navigation	nav2	Navigation or nav2 through bridge	NA	RCU	mobile robot navigation abstract interface
AI	ROS-LLM	GEMS	NA	Harix AI	built-in Robot specific AI Library
Sim	Gazebo, Copperslim, Webots, carla	Isaac SIM	Carla, RViz through ROS2	Sim	wide robot model is needed
SDK	NA	SDK	Dora Core	RDK	Lib/Developer examples/docs
Flow UI	NA	ISAAC UI	NA	IDE	visualize and design complex systems

Since we have initiated DORA-ARM, I would like to expand on it to provide a broader perspective on how our future work fits into the larger vision.

Here is the proposed diagram:

The framework layer is an abstraction designed to simplify application development. We anticipate that DORA Control, Navigate, and AI will be our primary focus for future work. These packages can be installed separately like cargo install or pip install.

The Dora AI packages include some common libraries to support the applications such as hugging-face, open-mmlab etc.

The Dora control packages are libraries designed to solve this problem. It focuses on providing universal, simple and well-structured Python interfaces for robots, grippers and cameras, IMU, Lidar, etc. These interfaces provide implementations of these interfaces for general-purpose hardware. This makes the code portable between different robot setups.

• Lidar
• Camera
• IMU
• Odometry
• Robot Manipulator Interface
  • moveJ
  • moveL abstraction on top of vendor driver support
• TF
• IK planner
• Joint Path
• Collision Avoidance
• Eye-hand calibration
• Aruco/April Tags
• Sensor recording

The DORA applications serve as reference designs built on top of the DORA framework and core. For instance, DORA-ARM is a reference design based on ALOHA, addressing AI and manipulator usage. Similarly, DORA-AMR and DORA-Autoware are designed to address navigation.

One advantage is that developers of various skill levels have multiple ways to contribute. Some may prefer to work at the application level without needing in-depth expertise in DORA core. This flexibility makes it easier for developers to adopt and contribute to the platform.