# Basic Concepts — ROS 2 Documentation: Rolling documentation ## Summary As a middleware, ROS allows messages to pass between 'nodes' (i.e. processes) in the ROS graph~\cite{openrobotics2023a} ^c682b0 ## References 1. [Basic Concepts — ROS 2 Documentation: Rolling documentation](https://docs.ros.org/en/rolling/Concepts/Basic.html) 2. # Footnotes