related_projects: add a page for related projects

documentation/index.markdown

@@ -23,6 +23,9 @@ an overview of how to use them within the framework.
 
 A set of beginner and advanced tutorials will run you through the key concepts in developing and running MoveIt!
 
+### [Related Projects](related_projects)
+MoveIt! is designed to be easily extensible as separate plugins or projects. This section lists related projects that have been aligned with the MoveIt! framework.
+
 ### [FAQs](faqs)
 
 FAQs answer frequently asked questions about MoveIt!, about the system architecture, getting MoveIt! to work on different robots and about the capabilities and applications provided by MoveIt!

documentation/related_projects/index.markdown

@@ -0,0 +1,49 @@
+---
+author: sharronliu
+comments: false
+date: 2018-10-24 20:00:00+00:00
+layout: page
+slug: related_projects
+title: Related Projects
+---
+
+# MoveIt! Related Projects
+
+MoveIt! is designed to be easily extensible as separate plugins or projects. Below is a list of related projects that have been aligned with the MoveIt! framework, in alphabetical order of project names. This is by no means exhaustive. Please create pull-requests in the repository [moveit.ros.org](https://github.com/ros-planning/moveit.ros.org) to **add** other projects to this list. Or if not sure about the relevance, please post on the [ROS Discourse category](https://discourse.ros.org/c/moveit).
+
+## bio_ik
+A MoveIt! kinematics_base plugin based on Particle Optimization & Genetic Algorithms. For ease of use and compatibility with existing code, the bio-ik algorithm is encapsulated as a Moveit kinematics plugin. Therefore, bio-ik can be used as a direct replacement of the default Orocos/KDL-based IK solver. Given the name of an end-effector and a 6-DOF target pose, bio-ik will search a valid robot joint configuration that reaches the given target. [More Info](https://github.com/TAMS-Group/bio_ik)
+
+<img src="/assets/images/related_projects/bio_ik.png" height="500"/>
+
+## descartes
+ROS-Industrial Special Project: Cartesian Path Planner. Descartes performs path-planning on under-defined Cartesian trajectories. It uses trajectory points, robot models, and planners to generate an joint-trajectory that complies with the constraints of a given process. [More Info](https://github.com/ros-industrial-consortium/descartes)
+
+<iframe width="800" height="500" src="https://www.youtube.com/embed/cZxt00uoyBo" frameborder="0" allow="autoplay; encrypted-media" allowfullscreen></iframe>
+
+## moveit_gpd_pick_object
+A sample implementation as MoveIt "GraspPlanning" plugin, to perform grasps detection by [GPD](https://github.com/atenpas/gpd). GPD detects 6-DOF grasp poses for a 2-finger grasp (e.g. a parallel jaw gripper) in 3D point clouds. Grasp pose detection consists of three steps: sampling a large number of grasp candidates, classifying these candidates as viable grasps or not, and clustering viable grasps which are geometrically similar. [More Info](https://github.com/TAMS-Group/moveit_gpd_pick_object)
+
+<img src="/assets/images/related_projects/place_holder.png" height="300"/>
+
+## moveit_grasps
+Geometric grasping generator library for cuboids. A basic grasp generator for objects such as blocks or cylinders for use with the MoveIt! pick and place pipeline. Does not consider friction cones or other dynamics.
+
+Its current implementation takes as input a pose vector (postition and orientation) and generates a large number of potential grasp approaches and directions. Also includes a grasp filter for removing kinematically infeasible grasps via threaded IK solvers. [More Info](https://github.com/PickNikRobotics/moveit_grasps)
+
+<img src="/assets/images/related_projects/moveit_grasps.png" height="500"/>
+
+## move_group_online_collision_predictor
+MoveGroupCapability that does simple extrapolation to check for possible collisions. If it detects a possible collision at a specified horizon, it notifies the ecosystem by message and extrapolate current state into the future to predict possible collisions. [More Info](https://github.com/TAMS-Group/move_group_online_collision_predictor)
+
+<img src="/assets/images/related_projects/place_holder.png" height="300"/>
+
+## ros_control
+A set of packages that include controller interfaces, controller managers, transmissions and hardware_interfaces. The ros_control packages are a rewrite of the [pr2_mechanism](http://wiki.ros.org/pr2_mechanism) packages to make controllers generic to all robots beyond just the PR2. The ros_control packages takes as input the joint state data from your robot's actuator's encoders and an input set point. It uses a generic control loop feedback mechanism, typically a PID controller, to control the output, typically effort, sent to your actuators. ros_control gets more complicated for physical mechanisms that do not have one-to-one mappings of joint positions, efforts, etc but these scenarios are accounted for using transmissions.
+
+<img src="/assets/images/related_projects/ros_control.png" height="500"/>
+
+## trac_ik
+Provide an alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL. Specifically, KDL's convergence algorithms are based on Newton's method, which does not work well in the presence of joint limits --- common for many robotic platforms. [More Info](https://bitbucket.org/traclabs/trac_ik)
+
+<img src="/assets/images/related_projects/place_holder.png" height="300"/>

documentation/source-code-api/index.markdown

@@ -34,6 +34,7 @@ MoveIt! code is hosted on github in the [ros-planning organization](http://githu
 - [moveit_msgs](https://github.com/ros-planning/moveit_msgs) - ROS messages
 - [moveit_robots](https://github.com/ros-planning/moveit_robots) - Robot specific MoveIt! configuration packages
 - [moveit_resources](https://github.com/ros-planning/moveit_resources) - large file assets such as testing robots
+- [moveit_task_constructor](https://github.com/ros-planning/moveit_task_constructor) - An approach to hierarchical, multi-stage manipulation planning
 - [moveit_visual_tools](https://github.com/ros-planning/moveit_visual_tools) - display and debugging data in Rviz
 - [moveit_advanced](https://github.com/ros-planning/moveit_advanced) - Experimental advanced capabilities
 - [moveit_pr2](https://github.com/ros-planning/moveit_pr2) - PR2 specific MoveIt! configuration and plugins