I am very new to ROS, but I read the beginner tutorials. I saw the examples where roscpp was used to create nodes.

I guess I could use the roscpp to build my standalone software piece that will run on a remote PC and will connect to the robot PC which will host the ROS system made up of several nodes.

On my remote PC do I need any other ROS infrastructure other than the roscpp library. Do I need to start any services like the roscore on my remote PC? Based on the tutorials, it seems that roscore only needs to run once and in my case it should be on the robot PC.

Thanks

GP