draft Roadmap through Section 5

RoadmappingDocument.md

@@ -1,5 +1,8 @@
 # ROS-Industrial Consortium Roadmapping
 
+## Summary
+To do
+
 ## Purpose
 This document summarizes the ROS-Industrial Consortium (RIC) Americas efforts to provide a technical roadmap for the ROS-Industrial open source project.  It consolidates the input of nearly two dozen member organizations that met in person and virtually during 2014.  The roadmap attempts to identify technical needs based on end-user requirements for automation and robotics.  Given these needs, the capabilities of the ROS-Industrial project can be mapped and gaps identified.  Ultimately, this roadmap can then be used to allocate resources to address these gaps.
 
@@ -20,39 +23,45 @@ The process roughly follows the [Sandia National Lab Fundamentals of Roadmapping
 7. Evaluate roadmap
 8. Develop implementation plans
 
-    ### 1. __Define Scope and Participants__
+### 1. __Define Scope and Participants__
 See above for scope and RIC member participants
 
-    ### 2. Create a Common Vision for the Product/technology
+### 2. Create a Common Vision for the Product/technology
 This document does not attempt to take ownership of the ROS-Industrial Project vision; instead one might look towards the [project website](http://rosindustrial.org), or more broadly, [ROS.org](http://ros.org).  The following is offered to gain alignment and a common language:
 
-    __Vision:__ ROS-Industrial provides an open and flexible framework for advanced robotics development that:
+__Vision:__ ROS-Industrial provides an open and flexible framework for advanced robotics development that:
+
+* Enables cross-platform compatibility  
+* Creates new applications that were previously infeasible or impractical
+* Advances manufacturing productivity
+* Improves worker well being
+* Motivates students and researchers to focus on industrial problems 
+* Reduces implementation costs
+* Foster growth of commercial developments
 
-    * Enables cross-platform compatibility  
-    * Creates new applications that were previously infeasible or impractical
-    * Advances manufacturing productivity
-    * Improves worker well being
-    * Motivates students and researchers to focus on industrial problems 
-    * Reduces implementation costs
-    * Foster growth of commercial developments
-
-    ### 3. Idenfity Stateholder requirements
-This was accomplished through a use case elicitation process, which is summared in the [Use Cases](UseCases.md).
+### 3. Idenfity Stateholder requirements
+This was accomplished through a use case elicitation process, which is summared in the [Use Cases](UseCases.md).  Ten broad use cases were identified.
 
-    ### 4. Define Technology areas
+### 4. Define Technology areas
 The technology areas were extracted from the [Use Cases](UseCases.mb) and then defined through a series of [virtual brainstorming meetings](https://github.com/ros-industrial-consortium/roadmapping/tree/master/Meetings).  The result is summarize in the mind map below.
 
-![ROS-Industrial Technology Area Summary](pics/TechnologyAreaSummary_small.png)
+![ROS-Industrial Technology Area Summary](pics/TechnologyAreaSummary_small.jpg)
+
+One can observe that the areas were categorized into six technical subtopics and one non-technical topic (Supporting Services).  The numbers in parethesis represent the number of use-cases that have needs in these areas.  The  topic areas are:
+
+1. __Hardware Interfaces:__ new interfaces to other robot contorllers, sensors and actuators
+2. __Human Interfaces:__ new ways to interact with humans by "traditional" means such as graphical interfaces or non-traditional means such as gesture commanads
+3. __Workspace Modeling:__ rapid generation of environement models and how to configure the robot within those environements
+4. __Work-Object Pose Estimation:__ identification and locating known objects in unknown locations (unstructured)
+5. __Path Planning:__ determining optimal motion plans for a robot manipulator while obeying process constraints
+6. __Mobility:__ topics unique to mobile platforms including localization and navigation
+7. __Support Services:__ developer and user support such as training and documentation
+
+The technology areas (capabilities) mapped against the use cases (applications) and schedules are show in the graphic below:
 
+![ROS-Industrial Roadmap](pics/RoadmappingGraphic_small.jpg)
 
-    One can observe that the areas were categorized into six technical subtopics and one non-technical topic (Supporting Services).  The numbers in parethesis represent the number of use-cases that have needs in these areas.  The  topic areas are:
+The events shown have direct impact on the application areas and will result in development within many of the capabilities areas.  The red connector lines represent concurrent development activities between projects and the capabilities.  The blue lines represent dependencies between technologies and their application.
 
-    1. Hardware Interfaces: new interfaces to other robot contorllers, sensors and actuators
-    2. Human Interfaces: new ways to interact with humans by "traditional" means such as graphical interfaces or non-traditional means such as gesture commanads
-    3. Workspace Modeling: rapid generation of environement models and how to configure the robot within those environements
-    4. Work-Object Pose Estimation: identification and locating known objects in unknown locations (unstructured)
-    5. Path Planning: determining optimal motion plans for a robot manipulator while obeying process constraints
-    6. Mobility: topics unique to mobile platforms including localization and navigation
-    7. Support Services: developer and user support such as training and documentation
-
-
+### 5. Identify Alternatives and Gaps
+The summaries above provide a high level overview of the needs and potential technology solutions.  In reality, each application will have detailed requirements that need to be mapped against features and performance of various tools within the ROS-Industrial community.  This section attempts to define more specifically the needs