【ROS学习-5】了解ROS Nodes（节点/结点）
1. 相关概念 Nodes : A node is an executable that uses ROS to communicate with other nodes. Messages : ROS data type used when subscribing or publishing to a topic. Topics : Nodes can publish messages to a topic as well as subscribe to a topic to receive messages. Master : Name service for ROS (i.e. helps nodes find each other) rosout : ROS equivalent of stdout/stderr roscore : Master + rosout + parameter server 2.Nodes A node really isn't much more than an executable file within a ROS package. ROS nodes use a ROS client library to communicate with other nodes. Nodes can publish or subscribe to a Topic. Nodes can also provide or use a Service. 3. 客户端库 根据编程语言不同有： rospy = python client library roscpp = c++ client library 4.roscore 当运行 ROS 时第一件事就是运行 roscore 命令。 5. 使用 rosnode 由于执行了 roscore 命令后 Terminal 界面就被占用了，此时需要再打开一个新 Terminal 再进行如下操作才能有相应结果（...