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 # Tutorials
 A series of tutorials are provided to better understand how to use the ZED node in the ROS environment :
 
-- [Video subscribing](./zed_video_sub_tutorial) : `zed_video_sub_tutorial` - in this tutorial you will learn how to write a simple node that subscribes to messages of type sensor_msgs/Image to retrieve the Left and Right rectified images published by the ZED node
-- [Depth subscribing](./zed_depth_sub_tutorial) : `zed_depth_sub_tutorial` - in this tutorial you will learn how to write a simple node that subscribes to messages of type sensor_msgs/Image to retrieve the depth images published by the ZED node and to get the measured distance at the center of the image
-- [Positional tracking subscribing](./zed_tracking_sub_tutorial) : `zed_tracking_sub_tutorial` - in this tutorial you will learn how to write a simple node that subscribes to messages of type geometry_msgs/PoseStamped and nav_msgs/Odometry to retrieve the position and the orientation of the ZED camera in the map and in the odometry frames.
+- [Video subscribing](./zed_video_sub_tutorial) : `zed_video_sub_tutorial` - in this tutorial you will learn how to write a simple node that subscribes to messages of type `sensor_msgs/Image` to retrieve the Left and Right rectified images published by the ZED node
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+- [Depth subscribing](./zed_depth_sub_tutorial) : `zed_depth_sub_tutorial` - in this tutorial you will learn how to write a simple node that subscribes to messages of type `sensor_msgs/Image` to retrieve the depth images published by the ZED node and to get the measured distance at the center of the image
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+- [Positional tracking subscribing](./zed_tracking_sub_tutorial) : `zed_tracking_sub_tutorial` - in this tutorial you will learn how to write a simple node that subscribes to messages of type `geometry_msgs/PoseStamped` and `nav_msgs/Odometry` to retrieve the position and the orientation of the ZED camera in the map and in the odometry frames.
 
 For a complete explanation of the tutorials please refer to the Stereolabs ZED online documentation: