Tutorial 1, publishing to topics

[First last]

I've been having trouble interpenetrating the instructions for tutorial 1 sections 4.2  ( https://f1tenth-coursekit.readthedocs.io/en/stable/assignments/labs/lab1.html ) , the instructions are to publish LIDAR data over the topics \closest_point, and \farthest_point. I can't seem to find these topics after running rostpoic list, and I'm not sure how to create new topics, where I can publish data. I have gone over the ROS tutorials that go over creating ROS publishers, and subscriber nodes, but I don't know if that's what they're looking for. So I was wondering if anyone could please tell me how I should be interpreting the task given in section 4.2and how I can complete it.

[Kim Luong]

You need to install the f1tenth_simulator (found here https://github.com/f1tenth/f1tenth_simulator). Read through the README on the sim repo as some of the commands have been updated and the Lab 1 document has not yet been updated with some of the repo and command links/names.