my_ros_package/
├── CMakeLists.txt
├── package.xml
├── launch/
├── src/
├── include/
├── msg/
├── srv/
├── scripts/
└── config/

#include <ros/ros.h>
int main(int argc, char **argv) {
  ros::init(argc, argv, "my_node");
  ros::NodeHandle nh;
  ROS_INFO("Node is running");
  ros::spin();
  return 0;
}

catkin_create_pkg my_ros_package roscpp rospy std_msgs
cd ~/catkin_ws
catkin_make
rosrun my_ros_package my_node
roslaunch my_ros_package my_robot.launch

mkdir ros_ws && cd ros_ws && mkdir src
catkin_make
cd src && catkin_create_pkg helloworld_pkg roscpp rospy std_msgs
source devel/setup.bash
rosrun helloworld_pkg publisher_node
rosrun helloworld_pkg subscriber_node