Robot Operating System (ROS)

  1. Core ROS Concepts and Architecture
    1. The Computation Graph
      1. Graph Structure
        1. Node Relationships
          1. Communication Patterns
          2. Nodes
            1. Definition and Purpose
              1. Single-Purpose Executables
                1. Node Naming Conventions
                  1. Node Lifecycle
                    1. Node Registration
                      1. Distributed Computing Model
                      2. The ROS Master
                        1. Name Registration and Lookup
                          1. Central Hub for Node Discovery
                            1. Master URI
                              1. Master Lifecycle
                                1. Master Limitations
                                2. Parameter Server
                                  1. Centralized Data Storage
                                    1. Static Parameters
                                      1. Dynamic Parameters
                                        1. Namespaces and Scoping
                                          1. Parameter Types
                                            1. Accessing Parameters Programmatically
                                              1. Parameter Persistence
                                              2. Communication Mechanisms
                                                1. Topics
                                                  1. Asynchronous Communication
                                                    1. Many-to-Many Communication
                                                      1. Publishers
                                                        1. Subscribers
                                                          1. Message Types and Definitions
                                                            1. Topic Naming Conventions
                                                              1. Message Serialization
                                                                1. Topic Buffering
                                                                  1. Quality of Service
                                                                  2. Services
                                                                    1. Synchronous Communication
                                                                      1. One-to-One Communication
                                                                        1. Service Servers
                                                                          1. Service Clients
                                                                            1. Service Definitions
                                                                              1. Request and Response Structure
                                                                                1. Service Persistence
                                                                                  1. Error Handling
                                                                                  2. Actions
                                                                                    1. Asynchronous Communication with Feedback
                                                                                      1. One-to-One Communication
                                                                                        1. Action Servers
                                                                                          1. Action Clients
                                                                                            1. Action Definitions
                                                                                              1. Goal Messages
                                                                                                1. Feedback Messages
                                                                                                  1. Result Messages
                                                                                                    1. Action Lifecycle
                                                                                                      1. Preemption and Cancellation

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                                                                                                  3. ROS Filesystem Structure

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                                                                                                  5. ROS Command-Line Tools