Create a new package

```bash
cd ~/code/code_idealab_ros/src/
catkin_create_pkg thorlabs_linear_actuator std_msgs rospy roscpp
cd ~/code/code_idealab_ros/
catkin_make
```

1. Find package dependencies:

   ```bash

   one level

   rospack depends1 thorlabs_linear_actuator

   all levels

   rospack depends thorlabs_linear_actuator ```

2. Open up package manifest:

   bash cd ~/code/code_idealab_ros/src/thorlabs_linear_actuator/ gedit package.xml

3. Add description, clean up and remove comments. It should look like this when done

   ```

   thorlabs_linear_actuator 0.0.1 The thorlabs_linear_actuator package

   idealab MIT http://idealab.asu.edu Dan Aukes

   catkin

   roscpp rospy std_msgs

   roscpp rospy std_msgs

   roscpp rospy std_msgs

   ```

4. Make

   ```bash cd ~/code/code_idealab_ros/ catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

   catkin_make install # (optionally)

   make one thing

   catkin_make --source my_src

   catkin_make install --source my_src # (optionally)

   ```