© The Author(s), under exclusive license to APress Media, LLC, part of Springer Nature 2023
R. SubramanianBuild Autonomous Mobile Robot from Scratch using ROSMaker Innovations Serieshttps://doi.org/10.1007/978-1-4842-9645-5_4

4. The ROS Framework

Rajesh Subramanian1  
(1)
ThunDroids LLP, 54/69, Elayidathu, Kumaranasan Road, Kadavanthra, 682020 Kochi, Kerala, India
 

Outline

This chapter covers the following topics:

  • What is ROS

  • Why use ROS

  • Applications of ROS

  • ROS architecture

  • Creating a workspace and building it

  • Publishers/subscribers

  • Services

  • Actions

  • Implementing publisher/subscriber using Python

  • Implementing services using Python

  • Implementing actions using Python

  • Creating custom messages, custom service definitions, and custom actions ...

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