Robot Operating System Cookbook

Getting ready

A complex robotic application also uses the ROS pluginlib framework to extend the capabilities of the robot. Here, we will develop a simple RegularPolygon application using pluginlib and understand all the procedures involved in creating and linking a plugin to the main application.

First of all, we will create pluginlib_tutorials inside our workspace:

$ catkin_create_pkg pluginlib_tutorials roscpp pluginlib