From a8d1dad862ed94fa226baaed478932c587914c00 Mon Sep 17 00:00:00 2001 From: Pururva Lakkad Date: Mon, 18 Sep 2023 14:26:42 -0400 Subject: [PATCH] Update About-Nodes.rst (#3917) * Update About-Nodes.rst Co-authored-by: Chris Lalancette (cherry picked from commit 4c9c0351eb9704d934bb9d3ea0b854dc66979631) --- source/Concepts/Basic/About-Nodes.rst | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/source/Concepts/Basic/About-Nodes.rst b/source/Concepts/Basic/About-Nodes.rst index 3960c821760..6ec5fbbfa94 100644 --- a/source/Concepts/Basic/About-Nodes.rst +++ b/source/Concepts/Basic/About-Nodes.rst @@ -10,7 +10,9 @@ Nodes are typically the unit of computation in a ROS graph; each node should do Nodes can :doc:`publish ` to named topics to deliver data to other nodes, or :doc:`subscribe ` to named topics to get data from other nodes. They can also act as a :doc:`service client ` to have another node perform a computation on their behalf, or as a :doc:`service server ` to provide functionality to other nodes. -For long-running computations, a node can act as an :doc:`action client ` to perform it, or as an :doc:`action server ` to have another node perform it. +For long-running computations, a node can act as an :doc:`action client ` to have another node perform it on their behalf, or as an :doc:`action server ` to provide functionality to other nodes. Nodes can provide configurable :doc:`parameters ` to change behavior during run-time. +Nodes are often a complex combination of publishers, subscribers, service servers, service clients, action servers, and action clients, all at the same time. + Connections between nodes are established through a distributed :doc:`discovery ` process.