Understanding the ROS computation graph level
The computation in ROS is done using a network of process called ROS nodes. This computation network can be called the computation graph. The main concepts in the computation graph are ROS Nodes, Master, Parameter server, Messages, Topics, Services, and Bags. Each concept in the graph is contributed to this graph in different ways.
The ROS communication related packages including core client libraries such as roscpp and rospython and the implementation of concepts such as topics, nodes, parameters, and services are included in a stack called ros_comm (http://wiki.ros.org/ros_comm).
This stack also consists of tools such as rostopic, rosparam, rosservice, and rosnode to introspect the preceding concepts. ...
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