ROS插件编写

ROS插件编写

1. 插件注册

• 引入头文件

#include <pluginlib/class_list_macros.h>

• 申明插件

/*
* \param class_type The real class name with namespace qualifier (e.g. Animals::Lion)
 * \param base_class_type The real base class type from which class_type inherits
*/
PLUGINLIB_EXPORT_CLASS(class_type, base_class_type）

// example

PLUGINLIB_EXPORT_CLASS(KindynamicPath::HybridAStarPlannerROS,nav_core::BaseLocalPlanner)

2.plugin描述文件

 

<library path="">
    <class name="" type="" base_class_type="">
        <description>
        </description>
    </class>
</library>


<!-- example -->
<library path="lib/libkindynamic_planner">
    <class name="KindynamicPath/HybridAStarP