Basic Concepts
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ROS 2 is a middleware based on a strongly-typed, anonymous publish/subscribe mechanism that allows for message passing between different processes.

At the heart of any ROS 2 system is the ROS graph.
The ROS graph refers to the network of nodes in a ROS system and the connections between them by which they communicate.

These are the concepts that will help you get started understanding the basics of ROS 2.

.. toctree::
   :maxdepth: 1

   Basic/About-Nodes
   Basic/About-Discovery
   Basic/About-Interfaces
   Basic/About-Topics
   Basic/About-Services
   Basic/About-Actions
   Basic/About-Parameters
   Basic/About-Command-Line-Tools
   Basic/About-Launch
   Basic/About-Client-Libraries