In this chapter, we provided different examples of ROS nodes in which ROS features such as ROS topics, services, and actions were implemented. We discussed how to create and compile ROS packages using custom and standard messages. After demonstrating the workings of each concept, we uploaded the package to GitHub and created a wiki page for the package.

In the next chapter, we will discuss ROS robot modeling using URDF and xacro, and will design some robot models.