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Basics: Node, rqt_graph, package, launch, param, dump
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Topic: N:N, pub-sub, one directional
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Service: 1:1, call-and-response(request/response), server/client
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Action: 1:1, for long-term task (async)
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Miscelleneous
- --symlink-install: python file is script, thus just passing symlink without copying would be more efficient