This repository includes tutorial packages to use ros pluginlib which tools for writing and dynamically loading plugins using the ROS build infrastructure in ROS2 environments. This repository includes three packages. The polygon_base package declares a virtual class that can insert plug-in classes. The plugin_application package includes application node using the plugin class. In the polygon_plugins package, a plugin class that uses pluginlib is declared, and creates an XML file the plugin loader to finds a library and know what to reference within the library.