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How data from one node send to another ?

I want to build an IOT-OS where one node can communicate with another. Ros sends data from one topic to another or from one node to another.

I want the basic source code for understanding in depth exactly how ROS is doing such a thing. I am also open to suggesting which can help me solve my problem.

Even a simple link to rostopic and rosnode source code where transferring of data might be taking place would be fantastic.