Robot Operating System Cookbook

Introduction

In the previous chapter, we learned how to install ROS. Subsequently, in this chapter, we will look into the ROS architecture and concepts along with its components. Furthermore, we will learn how to create and use the ROS components—nodes, packages messages, services, and much more, with examples.

The ROS architecture and design has been divided into three sections or levels of concepts:

• The ROS filesystem: In this level, a group of concepts is used to explain how ROS is internally formed, the folder structure, and the minimum number of files that it needs to work.
• The ROS computation graph: In this section, we will see all the concepts and mechanisms which are required to set up the ROS computational network and environment, ...