Is there a way for using ROS to coordinate logical units and control their response sequence as asked

edit

i have a industrial camera and a manipulator.

i 'd like to have the manipulator act first, and then adjust the parameters of the camera with the position of manipulator before it takes pictures

however, maybe next time, i'd like to have the camera act first , and then move the manipulator

i m a newbie in ROS, i really appreciate if anyone could give me suggestions or tell me what tools/libs/packages can help solving this question.

Thanks, all