create a new ROS package

1、creating a catkin Packages;
2、building a catkin workspace and sourcing the setup file;
3、building ROS package; （build /devel/src）

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4、launch file；
5、create msg and srv file；
6、check the package.xml file to ensure the “build_depend” and “run_depend” are uncommented;
7、add message in the CMakeLists.txt file;(add_service_files， add_message_files etc.)
8、write publisher and subscriber (node);
9、add build message in the CMakeLists.txt file, and build it ;
10、cd ~/catkin_ws catkin_make;