Summary

ROS is now a trending software framework among roboticists. Gaining knowledge in ROS is essential in the upcoming years if you are planning to build your career as a robotics engineer. In this chapter, we have gone through the basics of ROS mainly to refresh the concepts if you have already learned ROS. We discussed the necessity of learning ROS and how it excels among the current robotics software platforms. We went through the basic concepts such as ROS Master, Parameter server, and roscore and saw the explanation of the working of roscore. After discussing the internal working of roscore, we discussed each ROS concept, such as ROS topics, services, messages, and actionlib by illustrating examples. After demonstrating the working of each concept, we uploaded the package to GitHub and created a wiki page for the package. In the next chapter, we will discuss ROS robot modeling using URDF and xacro and will design some robot models.