Introduction to ROS: ROS tools and nodes
1.2.2 Writing a minimal ROS publisher
1.2.5 Examining running minimal publisher node
1.2.7 Writing a minimal ROS subscriber
1.2.8 Compiling and running minimal subscriber
1.2.9 Minimal subscriber and publisher node summary
1.3 More ROS tools: catkin_simple, roslaunch, rqt_console, and rosbag
1.3.1 Simplifying CMakeLists.txt with catkin_simple
1.3.2 Automating starting multiple nodes
1.3.3 Viewing output in a ROS console
1.3.4 Recording and playing back data with rosbag
1.4 Minimal simulator and controller example
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