ROS Topics: Capabilities [ROS Topics]. - William Woodall; Marcus Liebhardt; Daniel Stonier; Jonathan Binney (IEEE Robotics Autom. Mag., 2014)

Robot Operating System 2: Design, architecture, and uses in the wild. - Steven Macenski; Tully Foote; Brian P. Gerkey; Chris Lalancette; William Woodall (Sci. Robotics, 2022)