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

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Understanding the ROS Computation Graph level

ROS creates a network where all the processes are connected. Any node in the system can access this network, interact with other nodes, see the information that they are sending, and transmit data to the network:

Understanding the ROS Computation Graph level

The basic concepts in this level are nodes, the master, Parameter Server, messages, services, topics, and bags, all of which provide data to the graph in different ways and are explained in the following list:

  • Nodes: Nodes are processes where computation is done. If you want to have a process that can interact with other nodes, you need to create a node with this process to connect it to the ROS ...

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