Communication between ROS nodes – messages and topics

We will accomplish the goal of getting two nodes talking to each other by going step by step. First, you need to create a personal workspace, and then you will pull the book repository at https://github.com/PacktPublishing/Hands-On-ROS-for-Robotics-Programming, and go into the Chapter3_ROS_basics folder to follow the exercises by yourself.

Creating a workspace

Follow these steps to create a workspace from the command line:

1. First, create the folders that you will need later to place your ROS packages:

$ mkdir -p ~/catkin_ws/src

The following are the folder descriptions:

• catkin_ws will be the root location of your workspace.
• src is where you will place your code...