A ROS package comprised of 1. A C++ publisher node that publishes a TOPIC and 2. A C++ subscriber node that subscribes to this TOPIC. 3. A C++ server node that provides a SERVICE. 4. A C++ client node that calls the server node’s SERVICE
A ROS package comprised of 1. A C++ publisher node that publishes a TOPIC and 2. A C++ subscriber node that subscribes to this TOPIC. 3. A C++ server node that provides a SERVICE. 4. A C++ client node that calls the server node’s SERVICE