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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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Chapter 2. ROS Architecture and Concepts

Once you have installed ROS, you're probably be thinking, OK, I have installed it, so now what? In this chapter, you will learn the structure of ROS and the parts it is made up of. Furthermore, you will start to create nodes and packages and use ROS with examples using Turtlesim.

The ROS architecture has been designed and divided into three sections or levels of concepts:

  • The Filesystem level
  • The Computation Graph level
  • The Community level

The first level is the Filesystem level. In this level, a group of concepts are used to explain how ROS is internally formed, the folder structure, and the minimum number of files that it needs to work.

The second level is the Computation Graph level, where communication between ...

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