# Instructions for creating and configuring a new package,
# editing a sourcefile, compiling the package, running the 
# resulting node and printing the messages it publishes. 
mkdir -p randomwalk/src
cd ~/randomwalk/src
catkin_create_pkg randomwalk
emacs randomwalk/CMakelists.txt # see CMakelists.txt file listing
emacs randomwalk/package.xml # see package.xml file listing
emacs randomwalk/src/randomwalk_node.cpp # see randomwalk_node.cpp file listing
cd ~/randomwalk
source /opt/ros/kinetic/setup.bash
catkin build
source devel/setup.bash
rosrun randomwalk randomwalk_node &
rostopic echo /turtlebot1/cmd_vel