The code files for this chapter are available at https://github.com/PacktPublishing/Hands-On-ROS-for-Robotics-Programming/tree/master/Chapter6_ROS_programming.
When you have completed the Raspberry Pi setup, as explained in the Setting up a physical robot section, clone the book repository (https://github.com/PacktPublishing/Hands-On-ROS-for-Robotics-Programming) in your home folder:
$ cd ~
$ git clone https://github.com/PacktPublishing/Hands-On-ROS-for-Robotics-Programming
Remember this location in order to keep a check of your work because, in this chapter, our intention is that you create all the code by yourself. Alternatively, if you decide to use the provided code, you will just need to copy the Chapter6_ROS_programming folder to the ROS workspace as usual:
$ cp -R ~/Hands-On-ROS-for-Robotics-Programming/Chapter6_ROS_programming ~/catkin_ws/src
The...