Creating a package

Introduction#

This tutorial shows how to create a package in ROS. Packages sit inside workspaces, in the src directory. Each package directory must have a CMakeLists.txt and a package.xml files.

Creating a package using rospy

Assuming a workspace named workspace_name has been previously created in the home directory, a package named package_name can be created by executing the following command lines.

$ cd ~/workspace_name/src/
$ catkin_create_pkg package_name rospy