chapter2

Catkin Package

1. package.xml= meta information about the package

2. CMakeLists.txt= boilerplate

3. own folder = no nested packages nor multiple packages sharing the same directory.

Graph Concept

Nodes: an executable - that uses ROS to communicate with other nodes.

Messages: ROS data type - used when subscribing or publishing to a topic.

Topics: Nodes can publish messages to a topic as well as subscribe to a topic to receive messages.

Master: Name service for ROS (i.e. helps nodes find each other)

rosout: ROS equivalent of stdout/stderr

roscore: Master + rosout + parameter server (parameter server will be introduced later)

Node -> publish Messages -> topic -> subscribe Messages -> Node