# Concepts for developers

- [Message Format](https://coronadoenrique.gitbook.io/nep+/concepts-for-developers/message-format.md): How messages are defined in NEP+?
- [Tutorials for developers](https://coronadoenrique.gitbook.io/nep+/concepts-for-developers/tutorials-for-developers.md): Here you will learn how NEP+ tools can help you to connect building blocks (nodes) in a robotics system
- [Connecting Multiple Scripts on the Same Computer using NEP+ Tools: A Step-by-Step Tutorial](https://coronadoenrique.gitbook.io/nep+/concepts-for-developers/tutorials-for-developers/connecting-multiple-scripts-on-the-same-computer-using-nep+-tools-a-step-by-step-tutorial.md)
- [Connecting 2 scripts in a local network (e.g., two computers on the same Wifi network)](https://coronadoenrique.gitbook.io/nep+/concepts-for-developers/tutorials-for-developers/connecting-2-scripts-in-a-local-network-e.g.-two-computers-on-the-same-wifi-network.md)
- [Connecting ROS to non-ROS nodes using NEP+ tools](https://coronadoenrique.gitbook.io/nep+/concepts-for-developers/tutorials-for-developers/connecting-ros-to-non-ros-nodes-using-nep+-tools.md)


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