2.4.3 the basic structure of ROS2
2.4.3.1 Node
In ROS2, a node is the smallest logical processing unit and a central component in
builing robot control software systems. Each node is an independent process and has a
specific function such as collecting sensor data, controlling actuators, processing
images, and makind decisions. Nodes communicates with each other through
asynchronous communication mechanisms like topics, or synchronous ones like
services and actions. ROS2 supports programming nodes in two main language:
Python (with the ‘rclpy’ library) and C++ (with the ‘rclcpp’ library). The distributed
and independent node model assists rise scalability, reusability, and supports parallel
development in large-scale robot projects.