3. Basic ROS2 Concepts

This section will introduce basic ROS2 concepts and functionalities. These modular components allow roboticists to create and manage complex robotic systems. Some of the concepts that you will learn about include nodes, topics, services, actions, and more. Below are a few notes about each. You will dive deeper into each concept by exploring its corresponding subchapter.

Hexapod Robot Using ROS2 - Alejandro Begara Criado

Nodes are independent processes that perform specific computations, allowing different parts of a robot to operate in parallel.

Topics are named channels that enable communication between nodes using a publish/subscribe model, where data flows asynchronously from publishers to subscribers.

Services allow for synchronous communication between nodes, enabling them to send a request and receive a response for operations requiring immediate feedback.

Actions are another communication type and are used for tasks that take time to complete, offering feedback and goal tracking throughout execution.

Parameters allow nodes to dynamically configure settings, enabling adaptive behaviors without modifying the code.

Launch Files help in organizing and managing multiple nodes by launching them simultaneously with a single command.

This is a high-level overview of these fundamental concepts, which we will explore in greater detail in the following sections.