How to use a ROS package
I am very new to ROS, so here's a very general question.
Suppose I have installed a ROS package that I now want to use. In order to use it, should I build my own ROS package, which depends on this package, and then run a node from within my package? Or should I just create a normal C++ project, with a CMakeLists.txt file which tells the project where to find the necessary header and library files? Or should I just create a standalone ROS node (can a node live outside a package...?)?
Thanks!
What do you mean exactly by "using a ROS package"?. Do you need to consume the C++ API provided by the package or do you need to communicate with a ROS node provided by a package through topics/services?