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ROS

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ROS is a software platform for robotics.

Concepts

  • Topic: a named bus on which messages of a single type are published
    • rostopic list will list active topics on a running rosmaster
  • Package: defined by a directory containing a file package.xml (REP-0127)
    • msg/MyMessageType.msg defines messages for the package, published to topics
    • srv/MyServiceType.srv defines services for the package, supporting request/reply semnatics
  • Master: implemented by the rosmaster package, usually started via roscore
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