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For Fuerte, you can follow the tutorial on creating a Package. You run the command and specify the package name + dependencies (e.g. just roscpp). You can add more dependencies later by editing the manifest file. You edit the automatically generated CMakelists to add your source file for compilation, specify libraries, etc. Check these files in other packages for examples of more complex requirements.

After making a few test packages it becomes really easy. You can keep a scratch package like 'claudio_test_node' for quickly adding source code that you need to roslaunch/rosrun.