Mastering ROS for Robotics Programming - Second Edition

Step 1 - Creating a package for a nodelet

We can create a package called nodelet_hello_world , using the following command to create our nodelet:

$ catkin_create_pkg nodelet_hello_world nodelet roscpp std_msgs  

Otherwise, we can use the existing package from nodelet_hello_world, or download it from the following link:

$ git clone https://github.com/jocacace/nodelet_hello_world

Here, the main dependency of this package is the nodelet package, which provides APIs to build a ROS nodelet.