Packages

Packages are independent units, that can be re-used.

New package

Go to catkin_ws/src/ folder.

Basic syntax:

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

Create new package rpi_test:

cd ~/catkin_ws/src
catkin_create_pkg rpi_test rospy std_msgs
cd ..
catkin_make