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I would like to see what functions can I use to program for communication with ROS, because I see so few ready codes, ie need a tutorial to delve into programming for the ROS, as well acreditoque only be able to create this interface that interacts directly with the ROS and the simulation sending and receiving! Know I have to publish and so sobsecrever not know how iisso fare in real time or what functions can I use to this!

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