In this chapter, a simple analogy was taken and split into smaller chunks and we saw how to use ROS to do the same. Initially, a feedback-based messaging system was introduced and showed us how effective it is compared to topics and services. Later, we learned how to create such messaging mechanisms. Then, we learned how the robot can handle complex tasks and perform the same by defining the smaller chunks as states and run these states in sequences, concurrently, iteratively, and in a nested manner. We shall make use of the knowledge we acquired in this chapter and the previous one to learn how to actually implement a robot application.

In the next chapter, we will learn how to build an industrial application using state machines and the robot we created in the previous chapter.