ROS 2 Basics

This chapter covers the fundamental concepts of ROS 2.

What is ROS 2?

ROS 2 is a set of software libraries and tools that help you build robot applications. It is a complete rewrite of ROS 1 that adds new features and improvements, such as:

• Real-time support
• Security
• Support for small embedded systems

Core Concepts

• Nodes: The fundamental processing units in ROS 2.
• Topics: Named buses for nodes to exchange messages.
• Services: For request/reply communication.
• Actions: For long-running tasks.