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

$ catkin_create_pkg rviz_telop_commander roscpp rviz std_msgs

Or, you can use the existing package from the following location: chapter_6_codes/rviz_telop_commander.

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.