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Use the image in the instructions - it gives you all except for the launchfiles you should launch on your Linux PC to make the Brick load the controller!
Instructions to get a working image for your SD Card can be found here:
https://hacks4ros.github.io/h4r_ev3_ctrl/
This repository contains the node for the Lego EV3 for ROS.
Early Demonstration (Recored some time ago): Driving with ROS Controller Diff Drive
