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The tutorial you're attempting is an intermediate level, I would not advise you to start here if you're not familiar with fairly complex C++ projects already.

There is a good tutorial here that explains why and how c header files are used in projects. If you can have a play around with the examples shown here in a separate (non-ROS) project to get used to working with .c and .h files then this ROS tutorial should make more sense.

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