Mastering ROS for Robotics Programming - Second Edition

Step 4 - Implementing  the plugin loader using the calculator_loader.cpp

This plugin loader node loads each plugin and inputs the number to each plugin and fetches the result from the plugin. We can locate the calculator_loader.cpp file from the pluginlib_calculator/src folder.

Here is the explanation of this code:

#include <boost/shared_ptr.hpp> 
#include <pluginlib/class_loader.h> 
#include <pluginlib_calculator/calculator_base.h> 

These are the necessary header files to load the plugins:

pluginlib::ClassLoader<calculator_base::calc_functions> calc_loader("pluginlib_calculator", "calculator_base::calc_functions"); 

The pluginlib provides the ClassLoader class, which is inside class_loader.h, to load classes at runtime. We need to provide ...