ROS Programming: Building Powerful Robots

Step 1 - Creating a package for 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 chapter_5_codes/nodelet_hello_world.

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