Robot Operating System Cookbook

Getting ready

This computation network can be called the computation graph. The basic concepts in the computation graph are ROS nodes, master, parameter server, messages, topics, services, and bags. Each concept in the computational graph has a specific contribution 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 metapackage called ros_comm. Moreover, this stack also consists of tools such as rostopic, rosparam, rosservice, and rosnode, which introspect the preceding concepts.

The ros_comm stack contains the ROS communication middleware packages, and these packages ...