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Creating Packages.md

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Steps to Create a ROS Package

  1. First, navigate to the source space directory of the catkin workspace you’ve created.
 cd ~/catkin_ws/src
  1. Now, use the catkin_create_pkg script to create a new package called pkg_ros_basics which depends on std_msgs, roscpp, and rospy:
catkin_create_pkg pkg_ros_basics std_msgs rospy roscpp

This will create a beginner_tutorials folder which contains a package.xml and a CMakeLists.txt, which have been partially filled out with the information you gave catkin_create_pkg.

catkin_create_pkg requires that you give it a package_name and optionally a list of dependencies on which that package depends:

catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

Now, you need to build the packages in the catkin workspace:

cd ~/catkin_ws
catkin_make
  1. Inside the package, there are src folder, package.xml, CMakeLists.txt, and the include folders.

CMakeLists.txt: This file has all the commands to build the ROS source code inside the package and create the executable. For more information about CMakeLists you can rosWiki.

package.xml: This is an XML file. It mainly contains the package dependencies, information, and so forth.

src: The source code of ROS packages is kept in this folder.