This chapter provided you with general information about the ROS architecture and how it works. You saw certain concepts, tools, and samples of how to interact with nodes, topics, and services. In the beginning, all of these concepts might look complicated and without use, but in the upcoming chapters, you will start to understand their applications.

It is useful to practice using these terms and tutorials before continuing because, in the upcoming chapters, we will assume that you know all of the concepts and uses.

Remember that if you have queries about something and you cannot find the solution in this book, you can use the official resources of ROS from http://www.ros.org. Additionally, you can ask the ROS community questions at http://answers.ros.org.

In the next chapter, you will learn how to debug and visualize data using ROS tools. This will help you to find problems, know whether what ROS is doing is correct, and better define what your expectations from it are.