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Module 1 - Part 1: Core Architecture

Overview​

This section covers the fundamental architecture of ROS 2, including nodes, topics, services, and actions.

Key Concepts​

Nodes​

Nodes are the fundamental unit of execution in ROS. They are processes that perform computation.

Topics and Messages​

Topics are used for one-way communication between nodes. Messages are the data packets sent over topics.

Services​

Services provide a request/reply communication pattern.

Actions​

Actions are used for long-running tasks that have specific characteristics.

Detailed Architecture​

Communication Patterns​

  • Publisher-Subscriber Pattern
  • Client-Service Pattern
  • Action Pattern

Quality of Service (QoS)​

  • Reliability policies
  • Durability policies
  • History policies