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