February 2018
Beginner
580 pages
13h 20m
English
Content preview from Mastering ROS for Robotics Programming - Second Edition
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
The ROS Master
The ROS Master is much like a DNS server, associating unique names and IDs to ROS elements active in our system. When any node starts in the ROS system, it will start looking for the ROS Master and register the name of the node in it. So, the ROS Master has the details of all the nodes currently running on the ROS system. When any details of the nodes change, it will generate a callback and update with the latest details. These node details are useful for connecting with each node.
When a node starts publishing a topic, the node will give the details of the topic, such as name and data type, to the ROS Master. The ROS Master will check whether any other nodes are subscribed to the same topic. If any nodes are subscribed to ...