📄️ ROS 2 Nodes
ROS 2 nodes are the basic building blocks of robot applications. A node is a process that performs a specific task, like controlling motors or reading sensor data.
📄️ ROS 2 Topics & Pub/Sub
Topics are named channels that nodes use to exchange messages. They enable a publish-subscribe pattern where publishers send data and subscribers receive it.
📄️ ROS 2 Services & Actions
ROS 2 provides two important communication patterns for request-response interactions: services for quick, blocking operations and actions for long-running, interruptible tasks.
📄️ Robot Description with URDF
URDF (Unified Robot Description Format) is an XML-based format for describing robot geometry, joints, sensors, and visual appearance in ROS 2.