This tutorial covers how to create and build msg and srv files as well as the rosmsg, rossrv and roscp commandline tools. This tutorial shows how to use rosed to make editing easier. If you use ROS fuerte or ealier distros where rqt isn't fully available, please see this page with this page that uses old rx based tools. This tutorial introduces ROS using rqt_console and rqt_logger_level for debugging and roslaunch for starting many nodes at once. This tutorial introduces ROS services, and parameters as well as using the rosservice and rosparam commandline tools.
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