Architecture overview graph

Author: urfeex

.github/workflows/ci.yml

@@ -101,5 +101,5 @@ jobs:
         run: |
           .github/helpers/check_urls.sh \
             -d ".git build CMakeModules debian" \
-            -f "package.xml architecture_coarse.svg dataflow.graphml start_ursim.sh" \
+            -f "package.xml urcl_architecture.svg trajectory_interface.svg dataflow.graphml start_ursim.sh" \
             -p "vnc\.html opensource\.org\/licenses\/BSD-3-Clause kernel\.org\/pub\/linux\/kernel"

doc/architecture.rst

@@ -1,17 +1,8 @@
 Library architecture
 ====================
 
-The image below shows a rough architecture overview that should help developers to use the different
-modules present in this library. Note that this is an incomplete view on the classes involved.
-
-.. image:: images/dataflow.svg
-  :width: 100%
-  :alt: Data flow
-
-
-The core of this library is the ``UrDriver`` class which creates a
-fully functioning robot interface. For details on how to use it, please see the
-:ref:`example-driver` section.
+This library implements the bare communication protocols used to communicate with the robot, as
+well as a couple of standalone modules to directly use subsets of the library's functionality:
 
 .. toctree::
    :maxdepth: 1
@@ -23,3 +14,14 @@ fully functioning robot interface. For details on how to use it, please see the
    architecture/script_sender
    architecture/trajectory_point_interface
    architecture/ur_driver
+
+
+Dataflow overview with UrDriver
+-------------------------------
+
+The image below shows a rough architecture overview that should help developers to use the different
+modules present in this library. Note that this is an incomplete view on the classes involved.
+
+.. image:: images/urcl_architecture.svg
+  :width: 100%
+  :alt: architecture overview