01
ROS 2 Architecture
ROS 2 provides a communication and tooling framework for building distributed robot applications. Computation is organized into nodes that communicate through well-defined interfaces.
- Topics support asynchronous publish/subscribe communication.
- Services provide request/response interactions.
- Actions support long-running goals with feedback and cancellation.
- Parameters configure node behavior.
- Middleware enables communication between distributed components.
02
Typical Robot Software Stack
- Hardware drivers.
- Sensor processing.
- State estimation.
- Perception.
- Mapping and localization.
- Planning.
- Control.
- Task-level behaviors.
- Interfaces and monitoring.
03
Simulation
Simulation provides a controlled environment for testing robot algorithms before hardware deployment. It enables repeatability, scalable experimentation, and exposure to edge cases that may be expensive or dangerous to reproduce physically.