I am finishing up Unit 2 with the topics quiz and am confused about the structure. The instructions state a subscriber should be created to listen to LaserScan and a publisher to send instructions to cmd_vel to move the robot. Further down it says to put everything in one package with a specified name. I am confused, do publishers and subscribers not need separate packages?
My initial thought was to create the publisher and subscriber as separate packages. Then create a third package that called the subscriber to read, then based on its input call the publisher with a velocity value. However, I am still not sure how to call the publishers and subscribers from a seperate package. Is this something that was taught previously in the course and I have just forgotten?
Let me know if clarification is needed on my questions. Thank you in advance for any help you can provide!