ROS-2 follows the same computational graph concept as ROS-1 but with some changes:
- Nodes: Nodes are called participants in ROS-2. Apart from how nodes are defined in the ROS-1 computational graph, there is a possibility to initialize more than one node in a process. They may be located in the same process, different processes, or different machines.
- Discovery: While there is a master concept in ROS-1 that aids in communicating between nodes, there is no concept of a master in ROS-2. Don't panic! By default, the DDS standard implementation provides a distributed discovery method where nodes automatically discover themselves in the network. This aids in communication between multiple robots of different types.
Apart from ...
