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Hi Ringo,

I believe these refer to packages you already use for your sensors (e.g. your xv11 laser), odometry data (your serializer) and your URDF description which may or may not be in its own packge (e.g. my_robot_description). So one possibility in your case would be:

$ roscreate-pkg my_robot_name_2dnav move_base xv_11_laser_driver serializer my_robot_description

If you already have a working package for your robot (e.g my_robot_package) that itself depends on the xv_11_laser_driver and serializer packages as well as your URDF description, you could use:

$ roscreate-pkg my_robot_name_2dnav move_base my_robot_package

--patrick