Creating Packages¶

In this exercise, we will create our own ROS package which we continuously improve during this training. Eventually it will become a driver package for a sonar device.

We’ve verified ROS installation, created a workspace, and even built a few times. Now we want to create our own package and our own node some custom code.

Visit the ROS Wiki: Create a Package section and catkin_tools documentation to find out how to create a catkin package.
Your goal is to create a catkin package that:
- has a name: fake_sonar_driver
- has the following dependencies:
  - roscpp
  - sensor_msgs
  - geometry_msgs
Note

Remember that all packages should be created inside a workspace src directory.
If you succeeded there will be a folder named fake_sonar_driver. Change into that folder and open the package.xml file for editing.
Change the description, version, author, etc., as you like.
Finally, build the package with:
```
catkin build
```
Note

Further reading on building packages is available here: Building Packages.
Show your successes to the instructor.

Hint

If you forget to add a dependency when creating a package, you can add additional dependencies in the package.xml file.