Does a ROS node have to exist within a package?
I've gone through part of the ROS tutorial, and I'm still a bit confused on a very basic concept: does a ROS node have to exist within a ROS package? If I wanted to write the most basic "hello world" ROS program/node, do I need to build a whole ROS package around it, with a manifest.xml etc., or can I just include the proper ROS headers?