The correct way to create a package is by adding the dependencies with the other packages created for your robot. For example, you could use the next command to create the package:

$ roscreate-pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep

But in our case, as we have everything in the same package, so it is only necessary to execute the following:

$ catkin_create_pkg chapter9_tutorials roscpp tf

Remember that in the repository, you may find all the necessary files for the chapter.