Block diagram of ROS-Industrial packages

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! layer provides a direct solution to industrial manipulators in planning, kinematics, and pick and place
• The ROS-I Application Layer: This layer...