I want to programm my NXT via ROS and allready installed the right ROS and the Sensor tests are running. I followed the official tutorials. But how to go on? Is there an other tutorial which shows you how to make your first programm?

I have noticed the nxt_contollers but i dont get them to work properly. This would also help a lot.

I hope you understand my question. I simply dont know where to get more information from to go on programming and i have been serching many hours for inforation.

Thanks in advance for any help!