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Check http://wiki.ros.org/roscpp/Overview/Publishers%20and%20Subscribers
In terms of code, all that you need is to call ros::init, create a NodeHandle, and create a Publisher to start publishing data. You may have to define some custom .msg files if none of the provided work for your code. You will also need to create a Subscriber to listen to the data and do something with it.
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Check http://wiki.ros.org/roscpp/Overview/Publishers%20and%20Subscribers
In terms of code, all that you need is to call ros::init, create a NodeHandle, and create a Publisher to start publishing data. You may have to define some custom .msg files if none of the provided work for your code. You will also need to create a Subscriber to listen to the data and do something with it.
Refer to http://wiki.ros.org/ROS/Tutorials/CreatingPackage to see how to create a ROS package.
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