Section 9.5 Glossary
- Middleware
-
Software layer that handles discovery, message passing, and timing between separate programs so they can cooperate without direct wiring.
- DDS (Data Distribution Service)
-
The underlying middleware backbone ROS2 is built on, responsible for auto-discovery and message delivery between nodes across a network.
- ROS2 Graph
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The set of running nodes and the communication links between them at a given point in time.
- Node
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A single running ROS2 program that performs one logical piece of work.
- Topic
-
A named communication channel that nodes use to publish or subscribe to data.
- Publish
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The act of a node sending data onto a topic.
- Subscribe
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The act of a node receiving data from a topic.
- Message (.msg)
-
A structured data definition describing the fields and types exchanged over a topic.
- Workspace
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The directory structure (
src/,build/,install/,log/) containing a ROS2 project’s source code, build artifacts, and installed packages. -
colcon build -
The command run at a workspace’s root directory that compiles and assembles the packages found in its
src/folder. -
source install/setup.bash -
The command that overlays a workspace’s install directory onto the active shell, updating environment variables like
PATHandPYTHONPATHsoros2 runcan find its packages. -
ros2 node list -
A command-line tool that lists the names of all currently running nodes.
-
ros2 topic echo -
A command-line tool that prints messages as they arrive on a specified topic.
-
ros2 topic pub -
A command-line tool that manually publishes a message onto a specified topic.
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