ROS2 Nodes & Workspace Architecture

## ROS2 Humble Architecture & C++ Node Construction In this video lesson, Dr. Olumide breaks down the **ROS2 middleware graph**: nodes, topics, services, and action servers. > "Robotics software without deterministic execution is just random mechanical noise." — *Dr. Olumide Adeleke* ### Key Engineering Steps: 1. **Workspace Initialization**: Setup `colcon build` with `rclcpp` dependencies. 2. **C++ Node Lifecycle**: Subclassing `rclcpp::Node` with shared pointers. 3. **Micro-ROS Protocol**: Binding ESP32 serial UART communication to the ROS2 agent.