The ROS course of robotic operating system (ii) the overall framework of ROS

I. Overall structure

According to the maintainer and distribution of the ROS system code, there are two main parts:

(1) Main: The core part, mainly by Willow Garage Company and some developers to design, provide and maintain. It provides some basic tools for distributed computing, as well as program writing for the core portion of the entire Ros.

(2) Universe: Worldwide code, with the development and maintenance of ROS community organizations in different countries. One is the library code, such as OPENCV, PCL, etc. the top layer of the library is the code provided from the functional point of view, such as face recognition, they call the underlying library; the top-level code is the application-level code that allows the robot to perform a certain function.

In general, the Ros are graded from another angle, which is divided into three levels: Compute graph level, file system level, community level.