The first step is to create the controller package with all its dependencies. The following command can create a package for the controller called my_controller:

$ catkin_create_pkg my_controller roscpp pluginlib controller_interface   

We will get the existing package from the my_controller folder of the code provided with this book or clone the package from the following Git repository:

$ git clone https://github.com/jocacace/my_controller.git