Nodes And Topics
ROS Nodes and Topics
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Robots may be very different in form and function, but they all perform the same high-level tasks of perception, decision making, and actuation.
Nodes on a robotic system all communicate through the ROSmaster.
The parameter server acts as a central repository where nodes on a system can look up parameter values as needed.
Nodes pass messages to one another via topics, which you can think of as a named bus connecting two nodes.
A "pub-sub" architecture is one in which the ROSmaster publishes messages on topics and nodes subscribe to receive them.
A single node may simultaneously publish and subscribe to many topics.