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There is not anything built into any of the tools to do this. If you are doing catkin_make_isolated then you can just delete the build folder for the package in build/<package name> and the devel/install folders. Then remove the source code for that package or drop a CATKIN_IGNORE file in the source code of the that package and then rebuild. This will be relatively fast since the build folder for all of the other packages are preserved.
If you are using catkin_make, the packages are all combined, so the only way is to remove it from the workspace is to remove or disable the source code and then delete the build, devel, and/or install folders and rebuild the whole workspace.
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