Integrating Turtlebot with cohda wireless for exchanging messages

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I am trying to perform car2 x messages to be transferred between the environment and turtlebot. As I am a beginner in ROS, I don't know how and where to start. Although by following instructions on emanual.robotics. I was able to run the bot navigate autonomously. Now, I need to create nodes for turtlebot and Cohda wireless to exchange messages between them. I also need to enhance ROS motion planning for Sensors, Actuators, Localisation. Please help me find solutions how to do it. Any help is appreciable. I am using ROS Kinetic in Ubuntu 16.0.4