Hands-On ROS for Robotics Programming

roscore

roscore is the mandatory and first node that has to be launched so that the ROS environment can be running. This allows every node to be capable of finding any other node by subscribing to the topics it publishes. roscore also manages the database for ROS parameters—the values that define the robot configuration. As a result, if the roscore process dies, the master node fails, and the robot stops working. You may guess that this single point of failure is a clear limitation for a distributed computed framework such as ROS. For this reason, ROS2 has addressed this issue, and the running software no longer requires a master node. Communication between the nodes relies on the DDS (short for Data Distribution Service) architecture for ...