ROS Background

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Hi All, I have been working on ros for a few months now. I wish to know the basic building philosophy and the design of ROS to be able to 1. understand why / hows of ROS 2. to become a better programmer as such.

Is there anything online (I couldn't find any) which gives the very base level design structure in complete detail. I could go through the code and I have been doing that but any documentation on that would be quite helpful .

Thanks. Neeraj