ROS Programming: Building Powerful Robots

Step 4 - Creating plugin description file

Similar to the pluginlib example, we have to create a plugin description file inside the nodelet_hello_world package. The plugin description file hello_world.xml is as follows:

<library path="libnodelet_hello_world"> 
  <class name="nodelet_hello_world/Hello" type="nodelet_hello_world::Hello" base_class_type="nodelet::Nodelet"> 
      <description> 
      A node to republish a message 
      </description> 
  </class> 
</library>