Summary

In this chapter, we provided different examples of ROS nodes in which ROS features such as ROS topics, services, and actions were implemented. Such tools are used in every ROS package, both the one already available in the ROS repository and the one created by you. We also discussed how to create and compile ROS packages using custom and standard messages. Usually, different packages use custom messages to handle data generated by their nodes, so it's important to be able to manage custom messages provided by a package.

In the next chapter, we will discuss ROS robot modeling using URDF and xacro, and we will design some robot models.

Here are a few questions based on what we covered in this chapter.