ROS 2 Publish-Subscribe Model Enables Modular Robot Sensor Processing

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ROS 2 uses a publish-subscribe communication architecture that allows robot sensor nodes to publish data streams while multiple other nodes independently subscribe to and consume them. Each topic carries a specific message type — such as sensor_msgs/msg/Image or sensor_msgs/msg/LaserScan — defining the structure of data exchanged between components. Quality of Service policies govern message delivery, letting developers tune reliability, durability, and queue depth based on application needs. Built-in command-line tools like ros2 topic echo and ros2 topic hz help engineers debug sensor pipelines by inspecting active topics and measuring publish rates. The architecture supports AI-driven robotics by cleanly connecting high-frequency sensor inputs to GPU-based AI models and downstream planning components.

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