You're reading the documentation for an older, but still supported, version of ROS 2. For information on the latest version, please have a look at Jazzy.

Intermediate Concepts

These are the concepts that further your understanding of a basic ROS 2 system.

• The ROS_DOMAIN_ID
• Different ROS 2 middleware vendors
• Logging and logger configuration
• Quality of Service settings
• Executors
• Topic statistics
• Overview and usage of RQt
• Composition
• Cross-compilation
• ROS 2 Security
• Tf2