March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Topics
Topics are buses used by nodes to transmit data. Topics can be transmitted without a direct connection between nodes, which means that the production and consumption of data is decoupled. A topic can have various subscribers and can also have various publishers, but you should be careful when publishing the same topic with different nodes as it can create conflicts.
Each topic is strongly typed by the ROS message type used to publish it, and nodes can only receive messages from a matching type. A node can subscribe to a topic only if it has the same message type.
The topics in ROS can be transmitted using TCP/IP and UDP. The TCP/IP-based transport is known as TCPROS and uses the persistent TCP/IP connection. This is the default transport ...