📄️ Nodes
Nodes are at the core of ROS. They are independent processes responsible for performing some kind of computation.
📄️ Lifecycle nodes
Lifecycle nodes, also referred to as "managed" nodes, extend the common interfaces of regular nodes with an internal
📄️ Dynamic composition
Traditionally, ROS nodes are compiled as executables so that they can be launched as stand-alone processes.
📄️ Controlling robots
ROS nodes are easy to conceptualize as pure functional components that process input topics and generate output