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Without formal tutorials, there's going to be a certain amount of trial-and-error no matter what you do. Good places to start:

• The launchfiles the package provides; these are, basically, tiny examples.
• The messages the package defines; this will give you a sense of how it expects to interact with the outside world.
• Finally, just build it and start running nodes; see what topics they publish and subscribe to. If the package is well-written (even if it's still totally researchware), these are likely to have descriptive names.