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Topics, Services, Parameters, and catkin (the build system) are all prerequisites for building and controlling ROS robots.

If you want a better overview of how all of these things are used in a robotics simulation environment, take a look at the turtlesim tutorials: http://wiki.ros.org/turtlesim/Tutorials

If you specifically want to use gazebo, you may also want to look at the gazebo tutorials: http://gazebosim.org/tutorials