We can create a package called nodelet_hello_world , using the following command to create our nodelet:
$ catkin_create_pkg nodelet_hello_world nodelet roscpp std_msgs
Otherwise, we can use the existing package from nodelet_hello_world, or download it from the following link:
$ git clone https://github.com/jocacace/nodelet_hello_world
Here, the main dependency of this package is the nodelet package, which provides APIs to build a ROS nodelet.