> For the complete documentation index, see [llms.txt](https://robodog.gitbook.io/robodog-docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://robodog.gitbook.io/robodog-docs/software/creating-a-node.md).

# Creating a Node

## Creating a New Node

To create a new node, you can simply copy the rbd\_controller\_template folder, rename and modify the included files accordingly.

## Building on Target

In most cases, it is sufficient to only build the packages in which you have changed something by using:

* **`root@nx:~/catkin_ws#`**` ``catkin build`` `*`package_name`*

Since most of the heavy packages (ZED, Ouster etc.) are not changed, building the whole workspace by using `catkin build` is not time efficient.

Nevertheless, if you are encountering errors which you suspect to be caused by faulty builds or changes aren’t applied, you can do a clean rebuild.

* First clean the workspace with `catkin clean`
* Build all packages with `catkin build`