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The keyword here is Hardware_Interface. Its where you take/give data from ros to whatever bus to connect to the outside of the computer. There isnt much good documentation, tutorials, etc. on this topic though. link text link text boilerplate

As you are only starting out, it might be worth looking into ROS2. It seems it has matured a lot, with many packages converted now. Its also more geared towards "products"/application then ROS which was research oriented. ros2 can bridge