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Hi! I have the same, but a Rpi 3. I am connecting to it through SHH through wifi using mobaxterm https://mobaxterm.mobatek.net/ it allows also seeing graphic applications like rqt graph. I would recommend it if you want to start quick. You can either develop with a basic text editor the program has or something from your computer and then uploading the files to the Rpi. Good luck - warning i am also quite noob:)