8. Developing ROS packages in a workspace

In Section 7.2 and Section 7.4 you learn the basics of writing a ROS node using the Python and C++ client library, respectively. However, the programs you created in those section were not part of a proper ROS package.

In this chapter you will learn how to first setup a local workspace for package development, and then how to use the workspace to implement proper ROS packages written in either Python or C++.