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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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Chapter 2. The ROS Architecture with Examples

Once you have installed ROS, you surely must be thinking, "OK, I have installed it, and now what?" In this chapter, you will learn the structure of ROS and what parts it has. Furthermore, you will start to create nodes, packages, and use ROS with examples using TurtleSim.

The ROS architecture has been designed and divided into three sections or levels of concepts:

  • The Filesystem level
  • The Computation Graph level
  • The Community level

The first level is the Filesystem level. In this level, a group of concepts is used to explain how ROS is internally formed, the folder structure, and the minimal files that it needs to work.

The second level is the Computation Graph level where communication between processes ...

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