<?xml version="1.0"?><package format="2"><name>runcar</name><version>0.0.0</version><description>The runcar package</description><maintainer email="macl@todo.todo">macl</maintainer><license>TODO</license><buildtool_depend>catkin</buildtool_depend><build_depend>roscpp</build_depend><build_depend>rospy</build_depend><build_export_depend>roscpp</build_export_depend><build_export_depend>rospy</build_export_depend><exec_depend>roscpp</exec_depend><exec_depend>rospy</exec_depend><build_depend>message_generation</build_depend><exec_depend>message_runtime</exec_depend><!-- The export tag contains other, unspecified, tags --><export><!-- Other tools can request additional information be placed here --></export></package>
6. launch文件
<launch><node pkg ="turtlesim" name ="car1" type ="turtlesim_node"/><node pkg ="runcar" name ="theFirstCar" type ="exec_car1_du"/><node pkg ="runcar" name ="carReceive" type ="exec_car1_re" output ="screen"/></launch>