The focus is on the communication between nodes, which is a core concept of each function in the ROS framework.
It has libraries for sensor handling, motor control, and much more.
The libraries in ROS are meant to give you many standard functions for robotic activities. Those tools are only available in the desktop install. In the early stages, you need to try some examples and see how to simulate a robot or even several robots in action. For external systems, you will want to have only the finished nodes and the communication core of the system. To start with you will need compilers, command-line tools, and simulators. When you get more advanced, you will put only the necessary parts where you need them. ROS2 consists of many libraries, all of which you will install while learning. Since ROS comes in two versions and it contains many modules, installation is trivial on the surface but can quickly become complex. Being efficient becomes a necessity when you start using micro-controllers. The first reason is convenience, later it will be necessary because your platforms will have small memory. For the serious developer or hobbyist, you are going to need it packaged neatly for some reason. When you get started with robotics, you soon need a lot of software.
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