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1/ manifest.xml is now package.xml. Your should look like this one: https://github.com/ros/catkin_tutorials/blob/master/create_package_pubsub/catkin_ws/src/beginner_tutorials/package.xml

As the syntax changed the link you mention is now obsolete.

See the tutorial example here: https://github.com/ros/catkin_tutorials/tree/master/create_package_pubsub/catkin_ws/src/beginner_tutorials http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber(c%2B%2B)

2/ A header is used to associate a timestamp and/or a frame with your message, this is very useful but not mandatory.

3/ Once you run cmake in your package, a directory called msg_gen will be created containing the headers and required source files. You don't have to really know where this directory is located. Just include #include <PACKAGE/MESSAGE> where PACKAGE is you package name and MESSAGE your message filename without the extension (mymsg.msg becomes mymsg).