- Nodes:
A node really isn't much more than an executable file within a ROS package. ROS nodes use a ROS client library to communicate with other nodes. Nodes can publish or subscribe to a Topic. Nodes can also provide or use a Service.
- Client Libraries
- rospy = python client library
- roscpp = c++ client library
- Messages:
ROS data type used when subscribing or publishing to a topic.
- Topics:
Nodes can publish messages to a topic as well as subscribe to a topic to receive messages.
- Master:
Name service for ROS (i.e. helps nodes find each other)
- rosout:
ROS equivalent of stdout/stderr
This is always running as it collects and logs nodes' debugging output.
- roscore:
Master + rosout + parameter server
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