ROS organizational levels
ROS filesystem
ROS
organization
al levels
ROS computational graph
ROS community
ROS filesystem
Packages
ROS
filesystem
Package Manifests
Message types (msg)
Service types (srv)
ROS filesystem
Packages
source code, third-party libraries,
configuration files, and so on
ROS filesystem
Package Manifests
(package.xml) details of the packages,
including the name, description, license,
and, more importantly, the dependencies
of the package.
ROS filesystem
Message types (msg)
data structures for sending data through
ROS's message-passing system.
Message definitions are stored in a file
with the .msg extension.
ROS filesystem
Service types (srv)
srv file defines the request and
response data structure for the
service in ROS
ROS computational graph
ROS computational graph
peer-to-peer network of ROS systems that processes data
Basic Features are:
ROS computational graph
Basic Features are:
Nodes
ROS Master
Parameter server
ROS Topic
Messages
ROS computational graph
Nodes
a process that uses ROS
functionalities to process the data
ROS computational graph
ROS Master
a program for the ROS nodes to connect to each other
The ROS Master is a kind of DNS server, which can share the node details
when the second node requests a topic or service from the first node.
ROS computational graph
Parameter server
a global location where the static
values of ROS i.e, parameters are
stored
ROS computational graph
ROS Topic
a named bus through which ROS nodes communicate to
each other
sending of messages over a topic- publishing
receiving a message through a topic- subscribing
ROS computational graph
Messages
messages flow through ROS topic
a topic can send only one type of data at a time
ROS computational graph
Services
request/reply kind of interaction
send the service request to another node that provides the
service
ROS computational graph
Bags
important tool to log the sensor
data and the processed data
ROS computational graph
ROS community
Thank you