The overall design
is based on nodes.
Each functional node can compile a
distributed network independently. - RPC (TCP/UDP) communication
, multi-machine collaboration,
language-independent interface definition, and unified
integration of many open source projects.
3D visualization tool - rviz
physical simulation tool - gazebo
Qt toolbox (computation graph describes how the program runs) - rqt
data recording tool (playback function) - rosbag
Nodes, NodeManagers, Topics, Services
Node (Node) - Software Module
Node Manager (Master) - Control Center
Topic (Topic) - Transmission Message (Single Transmission)
Service - transmits messages (request/response)