Hi Jones,
Thanks for reply.
I followed the urdf tutorial. its understandable. I found a package
katana450 on
https://sail-ros-pkg.svn.sourceforge.net/svnroot/sail-ros-pkg/trunk/experimental/drivers/katana450/
. As the arm with me is Katana450 6M 180 so I downloaded the katana450
package. Then I change to katana450 directory and rosmake it , I get 
following error:

[ rosmake ] Packages requested are: ['katana450']                               
[ rosmake ] Logging to
directory/home/safdar/.ros/rosmake/rosmake_output-20101110-205455
[ rosmake ] Expanded args ['katana450'] to:
['katana450']                       
[ rosmake ] Checking rosdeps compliance for packages katana450.  This may
take a few seconds.
Failed to find stack for package [kni]
Failed to load rosdep.yaml for package [kni]:Cannot locate installation of
package kni: [rospack] couldn't find package [kni].
ROS_ROOT[/opt/ros/cturtle/ros] ROS_PACKAGE_PATH[/opt/ros/cturtle/stacks]
[ rosmake ] rosdep check passed all system dependencies in packages             
[rosmake-0] Starting >>> katana450 [ make ]                                     
[rosmake-1] Starting >>> roslang [ make ]                                       
[rosmake-1] Finished <<< roslang ROS_NOBUILD in package roslang
 No Makefile in package roslang
[rosmake-1] Starting >>> roslib [ make ]                                        
[rosmake-1] Finished <<< roslib ROS_NOBUILD in package roslib                   
[rosmake-1] Starting >>> xmlrpcpp [ make ]                                      
[rosmake-1] Finished <<< xmlrpcpp ROS_NOBUILD in package xmlrpcpp               
[rosmake-1] Starting >>> rosconsole [ make ]                                    
[rosmake-1] Finished <<< rosconsole ROS_NOBUILD in package rosconsole           
[rosmake-1] Starting >>> roscpp [ make ]                                        
[rosmake-1] Finished <<< roscpp ROS_NOBUILD in package roscpp                   
[rosmake-1] Starting >>> rosout [ make ]                                        
[rosmake-1] Finished <<< rosout ROS_NOBUILD in package rosout                   
[ rosmake ] All 8 lines
{-------------------------------------------------------------------------------
  mkdir -p bin
  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
rosbuild`/rostoolchain.cmake  ..
  CMake Error at CMakeLists.txt:3 (rospack):
    Unknown CMake command "rospack".
  
  
  -- Configuring incomplete, errors occurred!
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package katana450 written to:
[ rosmake ]   
/home/safdar/.ros/rosmake/rosmake_output-20101110-205455/katana450/build_output.log
[rosmake-0] Finished <<< katana450 [FAIL] [ 0.05 seconds ]                      
[ rosmake ] Halting due to failure in package katana450. 
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Results:                                                            
[ rosmake ] Built 9 packages with 1 failures.                                   
[ rosmake ] Summary output to directory                                         
[ rosmake ] /home/safdar/.ros/rosmake/rosmake_output-20101110-205455  


I have also CD with driver KNI 4.0.0 . Any solution to make everything
runnable via katana450 package??
thanks
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