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Module 1 - Part 1: Communication Patterns

Overview​

This section explores the different communication patterns available in ROS 2.

Publisher-Subscriber Pattern​

Topics​

  • Asynchronous communication
  • One-to-many communication
  • Message types and definition

Quality of Service (QoS)​

  • Reliability: Best effort vs Reliable
  • Durability: Volatile vs Transient Local
  • History: Keep last vs Keep all

Client-Service Pattern​

Services​

  • Synchronous request/reply
  • Service definition files (.srv)
  • Client and server implementation

Action Pattern​

Actions​

  • Asynchronous request/response with feedback
  • Goal preemption capability
  • Action definition files (.action)

Practical Examples​

Publisher Example​

# Example publisher code

Subscriber Example​

# Example subscriber code