March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
Start your free trial
Step 5 – Creating plugin description file
We can define the plugin definition file, which is given in the following. The plugin file is being saved inside the package folder with a name of controller_plugins.xml:
<library path="lib/libmy_controller_lib"> <class name="my_controller_pkg/MyControllerPlugin" type="my_controller_ns::MyControllerClass" base_class_type="pr2_controller_interface::Controller" /></library>