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Okay I have figured it out after a bit more digging on the internet. I will answer my own question.

First of all, use catkin_make -DCATKIN_WHITELIST_PACKAGES="package" to make only a single package.

Secondly, the main problem lies with the first command of the "Writing a Simple Publisher and Subscriber (C++)" tutorial. On the raspberry pi, roscd beginner_tutorials would bring me to the /opt/ros/kinetic/share/beginner_tutorials folder; however, I needed to be in the /ros_catkin_ws/src/beginner_tutorials folder when creating the publisher and subscriber.