How do you create a workspace?

cd ros/src
catkin_init_workspace
cd ../
catkin_make

What else do we need to install?

sudo apt install ros-kinetic-joy ros-kinetic-joystick-drivers
sudo apt install ros-kinetic-rosserial-arduino
sudo apt install ros-kinetic-rosserial

Creating the package

cd ros/src
catkin_create_pkg traxxas_control rospy

Structure of a typical ROS package

• scripts (python executables)
• src (C++ source files)
• msg (for custom message definitions)
• srv (for service message definitions)
• include -> headers/libraries that are needed as dependencies
• config -> configuration files
• launch -> provide a more automated way of starting nodes

Other folders may include

• urdf (Universal Robot Description Files)
• meshes (CAD files in .dae (Collada) or .stl (STereoLithography) format)
• worlds (XML like files that are used for Gazebo simulation environments)

Creating a traxxas_control node

cd ros/src/traxxas_control
mkdir scripts
cd scripts