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:

   # one level
   rospack depends1 thorlabs_linear_actuator
   #all levels
   rospack depends thorlabs_linear_actuator
   

2. Open up package manifest:

   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

   <?xml version="1.0"?>
   <package format="2">
   
     <name>thorlabs_linear_actuator</name>
     <version>0.0.1</version>
     <description>The thorlabs_linear_actuator package</description>
   
     <maintainer email="danaukes@gmail.com">idealab</maintainer>
     <license>MIT</license>
     <url type="website">http://idealab.asu.edu</url>
     <author email="danaukes@asu.edu">Dan Aukes</author>
   
     <buildtool_depend>catkin</buildtool_depend>
   
     <build_depend>roscpp</build_depend>
     <build_depend>rospy</build_depend>
     <build_depend>std_msgs</build_depend>
   
     <build_export_depend>roscpp</build_export_depend>
     <build_export_depend>rospy</build_export_depend>
     <build_export_depend>std_msgs</build_export_depend>
   
     <exec_depend>roscpp</exec_depend>
     <exec_depend>rospy</exec_depend>
     <exec_depend>std_msgs</exec_depend>
   
   
     <export>
     </export>
   
   </package>
   

4. Make

   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)