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I am not well versed with C++ so would using RosJava would be a better option?

While rosjava is certainly an option, I would recommend starting with roscpp or rospy (as the other posters have written). Once you get acquainted with ROS terminology and concepts, rosjava will probably start to make more sense. It is far more asynchronous and harder to 'wrap your head around' than any of the other client libraries (although if you are proficient enough in Java that asynchronicity should not really matter).