1.2.1 ROS application introduction

Course subject(s) Module 1. ROS Essentials

Now we have the knowledge about these ROS nodes and topics. The next step will be building your own nodes and topics. We will learn how to do so in this module.


It’s time to build your own ROS application structure! There are four fundamental types of ROS nodes that can be used to build a ROS application:

  • Publishers
  • Subscribers
  • Services
  • Actions

Please keep in mind, that here we refer to Services and Actions as fundamental types of nodes. That is, we are referring to nodes that use services and actions for communication. Publishers, Subscribers, Services and Actions are used by ROS nodes to communicate between each other.

First, we will focus on Publisher and Subscriber nodes.

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Hello (Real) World with ROS - Robot Operating System by TU Delft OpenCourseWare is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
Based on a work at https://online-learning.tudelft.nl/courses/hello-real-world-with-ros-robot-operating-systems//.
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