A ROS (Robot Operating System) package can contain anything else that logically constitutes a useful module, e.g. nodes, library, dataset, launch files. A minimal ROS package only needs to have a package.xml. This "minimal" package also includes a CMakeLists.txt and a C file hello.c. You could have used catkin_create to quickly create a new package with some bolierplate texts and file structures.

Suppose your ROS workspace is catkin_ws. First be sure to set properly your environment variables. Usually, you source catkin_ws/devel/setup.sh to get things set. Then clone this git repo into catkin_ws/src. You can use catkin_maketo build all packages in catkin_ws/src. You can also use this command to build only the helloworld_ros package.

$  catkin_make --pkg helloworld_ros

$ ./devel/lib/helloworld_ros/hello

or

# rosrun helloworld_ros hello