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Basic Concepts

ROS 2 is a middleware based on a strongly-typed, anonymous publish/subscribe mechanism that allows for message passing between different processes.

At the heart of any ROS 2 system is the ROS graph. The ROS graph refers to the network of nodes in a ROS system and the connections between them by which they communicate.

These are the concepts that will help you get started understanding the basics of ROS 2.

• 節點
• Discovery
• Interfaces
• 話題
• 服務
• Actions
• Parameters
• Introspection with command line tools
• Launch
• Client libraries