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1.Package必须包含（look like this:）：         

my_package/ 
            CMakeLists.txt 
            package.xml     

2.Packages in a catkin Workspace:

　　　　1. Creating a workspace for catkin

source /opt/ros/indigo/setup.bash  //一般在.bashrc文件已经做过

★　Let‘s create a catkin workspace:

$     mkdir -p ~/catkin_ws/src
$     cd ~/catkin_ws/src
$     catkin_init_workspace                ／／很关键

　　　　２．此时实际上catkin空间是空的，仍然可以"build"空间

$  cd ~/catkin_ws/ 　　　　　　　／／注意catkin_make的地方　　　
$  catkin_make

 ★   注意思考此时catkin空间的文件夹都有什么？？？  

　　　　３．continuing source your new setup.*sh file:（我不明白为什么还要做这一步）

$ source devel/setup.bash

     　　４．添加ROS_PACKAGE_PATH

$ echo $ROS_PACKAGE_PATH 
/home/youruser/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks

 　　　５．这就是一个catkin空间应该的样子：

3. Creating a catkin Package:

  　　主要使用catkin_create_pkg命令，用法如下：

# catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

  　　生成一个package，叫beginner_tutorials

cd ~/catkin_ws/src
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

After the workspace has been built it has created a similar structure in the devel subfolder as you usually find under /opt/ros/$ROSDISTRO_NAME.
To add the workspace to your ROS environment you need to source the generated setup file: (不明白，没有翻译,为什么加着一步？)

$ . ~/catkin_ws/devel/setup.bash

 １．查看package dependencies

　　　　１．First-order dependencies

$ rospack depends1 beginner_tutorials
                std_msgs
                rospy 
                roscpp

These dependencies for a package are stored in the package.xml file:（　完整的package.xml文件描述：）

          ２．Indirect dependencies

实际上，　A package can have quite a few indirect dependencies.

２．Final package.xml

Creating a ROS Package

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原文地址：http://www.cnblogs.com/jack-wangchong/p/5473455.html