> For the complete documentation index, see [llms.txt](https://www.learnros2.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://www.learnros2.com/ros/ros-architecture.md).

# ROS Architecture

## Related Readings

* [Robot Operating System 2: Design, Architecture, and Uses In the Wild](https://arxiv.org/pdf/2211.07752.pdf)
* [ROS Humble - Executor Explained](https://docs.ros.org/en/humble/Concepts/Intermediate/About-Executors.html)
* [Executor Class Reference](https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1executor_1_1Executor.html#details)