February 2020
Intermediate to advanced
432 pages
10h 50m
English
Content preview from Hands-On ROS for Robotics Programming
Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
Start your free trial
Summary
In this chapter, we introduced ROS and practiced with simple examples in order to help you understand the architecture of ROS. The top-level entity is the workspace, which is an isolated environment for building and running your software.
The workspace is constituted by ROS packages, that is, premade pieces of software that provide specific functionalities to integrate into your robot. Following this, catkin is the tool used to build the software each time you include new packages in your workspace.
The node is the basic entity in ROS and holds the functional pieces of code that make the robot work. A collection of related nodes providing specific functionalities constitute a ROS package. roscore, the process that runs the master ...