We can define the plugin definition file, which is given in the following code. The plugin file is being saved inside the package folder under the name of controller_plugins.xml:
<library path="lib/libmy_controller_lib">
<class name="my_controller_ns/MyControllerClass"
type="my_controller_ns::MyControllerClass"
base_class_type="controller_interface::ControllerBase" />
</library>
Get Mastering ROS for Robotics Programming - Second Edition now with the O’Reilly learning platform.
O’Reilly members experience books, live events, courses curated by job role, and more from O’Reilly and nearly 200 top publishers.
Get Mark Richards’s Software Architecture Patterns ebook to better understand how to design components—and how they should interact.
Dive in for free with a 10-day trial of the O’Reilly learning platform—then explore all the other resources our members count on to build skills and solve problems every day.
Start your free trial Become a member now