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ROS的学习方法

要想学好以及用好ROS，需要进行大量的实践操作。因此在快速了解ROS的核心概念和编程范式后，就要结合大量的实际项目来深入理解ROS。学会用正确的方式解决问题，能帮你更快地提高能力。ROS的学习资源主要有以下几个。

• 官网：www.ros.org

• 源码：github.com

• Wiki：wiki.ros.org

• 问答：answers.ros.org

02 ROS系统架构

安装完ROS后，很多朋友应该迫不及待想立马开始写程序。由于ROS的架构比较复杂，为了后面容易理解遇到的各种概念，这里先讨论一下ROS的系统架构，好让大家对ROS中的各种概念有性把控。按照官方的说法，可以分别从 计算图 、文件系统和开源社区视角来理解ROS架构。

1. 从计算图视角理解ROS架构

ROS中可执行程序的基本单位叫 节点 （node），节点之间通过消息机制进行通信，这样就组成了一张网状图

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