Analyzing the ROS computation graph
ROS creates a computational network where all the processes are connected. Any process in the system can access this network, interact with other processes, observe the information that they are sending, and transmit data to the network. In general, they perform collaborative computational tasks.
Getting ready
This computation network can be called the computation graph. The basic concepts in the computation graph are ROS nodes, master, parameter server, messages, topics, services, and bags. Each concept in the computational graph has a specific contribution in different ways.
The ROS communication-related packages, including core client libraries, such as roscpp and rospython, and the implementation of concepts such as topics, nodes, parameters, and services, are included in a metapackage called ros_comm. Moreover, this stack also consists of tools such as rostopic, rosparam, rosservice, and rosnode, which introspect the preceding concepts.
The ros_comm stack...
