2020 January 15 ⋅ Download
ROSCon 2019 Presentation by Michael Carroll (Open Robotics), Michel Hidalgo (Ekumen), William Woodall (Open Robotics)
Composable nodes (or simply components) allow developers to defer decisions about execution layout until deploy time. This benefit comes at no expense thanks to a unified node API, unlike ROS 1 node and nodelet APIs. Owing to this flexibility, components are now the recommended way of writing ROS 2 C++ code. This talk will cover the basic concepts and architecture, as well as demonstrate writing and deploying components via the tooling available starting in Dashing. The intended audience for this talk is ROS 2 developers interested in latest features, as well as users migrating nodelets from ROS 1.