Mastering ROS for Robotics Programming - Second Edition

Step 1 – Creating the RViz plugin package

Let's create a new package for creating the teleop plugin:

$ catkin_create_pkg rviz_telop_commander roscpp rviz std_msgs  

The package is mainly dependent on the rviz package. RViz is built using Qt libraries, so we don't need to include additional Qt libraries in the package. In the Ubuntu 16.04 version, we need to use Qt5 libraries.