Mastering ROS for Robotics Programming - Second Edition

Step 9 - Running the plugin loader

After launched the roscore, we can execute the calculator_loader using the following command:

$ rosrun pluginlib_calculator calculator_loader  

The following screenshot shows the output of this command, to check whether everything is working fine. The loader gives both inputs as 10.0 and we are getting the proper result, as shown, using plugins in the screenshot:

Figure 3: Result of the plugin loader node

In the next section, we will look at a new concept called nodelets and discuss how to implement them.