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This document describes the basics of how a ROS node registers itself with the ROS master: http://wiki.ros.org/ROS/Technical%20Overview

In short, it makes one XMLRPC call (an API call, similar to REST) to the ROS master to inform it that it exists, and more XMLRPC calls to inform that ROS master that it has publishers and/or subscribers. A node can have one or more than one publisher, subscriber, or both publishers and subscribers!