• Basics: Node, rqt_graph, package, launch, param, dump

• Topic: N:N, pub-sub, one directional

• Service: 1:1, call-and-response(request/response), server/client

• Action: 1:1, for long-term task (async)

• Miscelleneous

  • --symlink-install: python file is script, thus just passing symlink without copying would be more efficient