In these tutorials we will go through the various steps involved in adding and subsequently using CRS and the accompanying ROS packages in ros4crs as well as explaining some core ROS concepts. Many of the tutorials are based off of notes taken while learning how to use CRS and ROS and are therefore intended for new users. However, many of the pages can still serve as checklists for more experienced CRS users.

Contents

1. Adding New Models to CRS
   1. Adding a Dynamic Model
   2. Adding a Sensor model
   3. Adding Messages for our Models
2. Creating a ROS Simulator
   1. Creating a barebones ROS simulator
   2. Adding a state publisher
   3. Adding a controller that pub'n'subs
   4. Upgrading simulator to pub'n'sub
3. Using the Built in Simulator of CRS WORK IN PROGRESS