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Your package's package.xml seems to have some error in its first line which probably should be something like <?xml version="1.0"?>. See the error message:

raise InvalidPackage('The manifest contains invalid XML:\n%s' % ex)
catkin_pkg.package.InvalidPackage: The manifest contains invalid XML:  no element found: line 1, column 0

I will suggest just to edit package.xml or create a new package because it is created automatically by the command catkin_create_pkg

Your package's package.xml seems to have some error in its first line which probably should be something like <?xml version="1.0"?>. See Have a look at the error message:

raise InvalidPackage('The manifest contains invalid XML:\n%s' % ex)
catkin_pkg.package.InvalidPackage: The manifest contains invalid XML:  no element found: line 1, column 0

I will suggest just to edit package.xml or create a new package because it is created automatically by the command catkin_create_pkg