Steps

see https://wiki.ros.org/ROS/Tutorials/CustomMessagePublisherSubscriber(python) for details on how to customize

1. create the scripts directory and pull talker and listener examples

   roscd thorlabs_linear_actuator/
   mkdir scripts
   cd scripts
   # pull talker and listener
   wget https://raw.github.com/ros/ros_tutorials/kinetic-devel/rospy_tutorials/001_talker_listener/talker.py
   chmod +x talker.py
   wget https://raw.github.com/ros/ros_tutorials/kinetic-devel/rospy_tutorials/001_talker_listener/listener.py
   chmod +x listener.py
   

2. Customize scripts as needed

3. Make project

   cd ~/code/code_idealab_ros/
   catkin_make