Extended ROS tutorial

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Are there finer grain tutorials, other than the wiki and a few ROS tutorials from previous conferences, which give good descriptions on writing more complex packages in ROS? I'm very new to ROS and am having some trouble developing a tele-op application for a small project. I'm looking for a detailed dive into complex systems in ROS. Though diving into the current code available is what I am doing, I would love to read a step by step guide if it exists, pointing out pit falls, etc.

Thanks,

Recently converted ROS/C++ developer.