ROS 2 intra-process communication and composition explained
ROS 2 composition loads several nodes into one process, and intra-process communication passes messages between them without serialisation or a middleware hop.
#executors
2 posts
ROS 2 executors and callback groups explained
How ROS 2 executors run callbacks, what callback groups change about concurrency, and why a synchronous service call inside a callback deadlocks.