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--- software:ros:getting-started [2013/04/18 08:42] – [Basic Tutorials] bartelsg
+++ software:ros:getting-started [2013/04/18 11:52] – [Basic Tutorials] tenorth
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 We also recommend new users to follow at least the basic tutorials. Afterwards, one can look at the more specific tutorials on a need or interest basis. And, as always, practicing in an own project improves learning. Have fun! :)
 ===== Basic Tutorials =====
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   * all the 'intermediate' tutorials
-For first time users we recommend to stick one combination of 'your favorite programming language' (C++ or python, where not all packages provide python-tutorials) and one build system (catkin or rosbuild, where catkin is the new ROS buildsystem of the future).
+For first time users we recommend to stick with one combination of 'your favorite programming language' (C++ or python, where not all packages provide python-tutorials) and one build system (catkin or rosbuild, where catkin is the new ROS buildsystem of the future). For right-now we recommend you to use C++ and rosbuild.
 Additionally, you should also familiarize yourself with:
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 Afterwards, it is always a good idea to revisit the tutorials to also learn how to use 'your not-so-favorite programming language' and 'the other buildsystem'. ;)
 ===== How to find ROS Tutorials =====
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 Click on it. Et voilà, you found the gazebo tutorials!
+===== More specific Tutorials =====
+Depending on the focus of your work you will likely want to look at tutorials covering very specific software packages.
+==== Motion Control ====
+  * Robot kinematics are modelled using the [[http://www.ros.org/wiki/urdf|URDF]] standard.
+  * The control architecture of the PR2 is nicely documented [[http://www.ros.org/wiki/pr2_mechanism|here]].