# Creating your own package

We've been given some practical work on ROS, but the instructions were focused on _ROS Electric_ and __rosbuild__, so we spent some time trying to figure out how to use catkin and its workspace mechanism.

    mkdir -p workspace/src
    cd ./workspace/src
    catkin_init_workspace
    catkin_create_pkg myPackage roscpp ## Add dependencies, separated with spaces here, like: std_msgs rospy ...
    # Time to do stuff here, like creating a main or whatever...
    cd ./myPackage
    vim ./src/main.cpp
    # Time to add our file to the build list
    vim CMakeList.txt
    # Let's say from here, that's we've name our executable myExec
    cd ../../
    catkin_make

Now, if you want to be able to use you workspace with rosrun and stuff _without installing it, it's time to source another setup.bash, `source workspace/devel/setup.bash`

Time to run =) `rosrun myPackage myExec`