ROS2 Layered Framework

This diagram illustrates the layered software architecture of ROS2 (Robot Operating System 2). The system is clearly divided into an application layer and a core layer: the application layer encompasses high-level development tools, specific functional "nodes" (such as mapping, localization, and control), and client interfaces for inter-node communication (including topics, services, and actions). The core layer utilizes the RMW (ROS Middleware interface) as a unified abstraction layer to mask the differences between various underlying DDS communication protocols (such as Fast DDS and Cyclone DDS), ultimately enabling execution across operating systems like Linux, Windows, and macOS. Overall, the architecture embodies the ROS2 design philosophy of high modularity, decoupling, and ease of cross-platform portability.