ROS Programming: Building Powerful Robots

Step 9 - Running the plugin loader

We can run the calculator_loader using the following command:

• Run the roscore, as follows:

    $ roscore

• Run 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 it.