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I think that the ROS Tutorials are the best starting point. Specifically number 11/12... but to get to those you should work the preceding ones.

I think that the ROS Tutorials are the best starting point. Specifically number 11/12... but to get to those you should work the preceding ones.

If your application requires the creation of a custom message this would have been covered in tutorial 10.. but you should check the existing "standard" messages to make sure that you're not reinventing the wheel.

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