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Yes, you can check this git repo where you have miminimal templates for all kind of purpose : simple publisher/subscriber, using a class, using a ros message, a ros server etc.. It helped me a lot at the beginning.

Also @pavel92 's advice is good, it's always nice to see well-written code by developpers to get good habits. See the commonly used packages in ROS for example, it's always good to know what's really behind all the nodes you are using to learn and debug faster.