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plugins_description.xmlを用意する

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rviz2プラグインの作り方 トップページへ

rvizのプラグインとして登録するために plugins_description.xml が必要となります

例.xml
<library path="sample_rviz_plugins">
  <class name="sample_rviz_plugin/CloseAll" type="sample_rviz_plugins::CloseAllTool" base_class_type="rviz_common::Tool">
    <description>
      close all displays
    </description>
  </class>
  <class name="sample_rviz_plugin/MyArrow" type="sample_rviz_plugins::MyArrow" base_class_type="rviz_common::Display">
    <description>
      description -----------
    </description>
  </class>
  <class name="sample_rviz_plugin/PubTwist" type="sample_rviz_plugins::PubTwist" base_class_type="rviz_common::Panel">
    <description>
      description -----------
    </description>
  </class>
</library>

library path : パッケージ名
name : rviz上で表示するプラグイン名、sample_rviz_plugin/xxxみたいにしておくとまとめてくれる
type : .hpp/.cpp上でのクラス名、名前空間の中にあるときは名前空間も記述する
base_class_type : プラグインのタイプ、rviz_common::Display, rviz_common::Panel, rviz_common::Toolの3種類存在する

description タグにはプラグインの説明を記述しておきます

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