ROS 2 Concepts

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.

• Nodes
• Discovery
• Interfaces
• Topics
• Services
• Actions
• Parameters
• Introspection with command line tools
• Launch
• Client libraries

Intermediate Concepts

These are the concepts that further your understanding of a basic ROS 2 system.

• The ROS_DOMAIN_ID
• Different ROS 2 middleware vendors
• Logging and logger configuration
• Quality of Service settings
• Executors
• Topic statistics
• Overview and usage of RQt
• Composition
• Cross-compilation
• ROS 2 Security
• Tf2

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