Each node in ROS should be responsible for a single, modular purpose, e.g. controlling the wheel motors or publishing the sensor data from a laser range-finder. Each node can send and receive data from other nodes via topics, services, actions, or parameters.
A full robotic system is comprised of many nodes working in concert. In ROS 2, a single executable (C++ program, Python program, etc.) can contain one or more nodes.
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