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Boilerplate Example for ROS2 #133

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davetcoleman opened this issue Dec 5, 2018 · 2 comments
Open

Boilerplate Example for ROS2 #133

davetcoleman opened this issue Dec 5, 2018 · 2 comments

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@davetcoleman
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Is there a simple boilerplate example of creating and using pluginlib in ROS2? I think this would help everyone in various ROS2 migrations. I know MoveIt! is full of pluginlib usage and we need more documentation on how to use it around ament.

@SteveMacenski
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SteveMacenski commented Oct 22, 2019

@davetcoleman I know this is ancient and you've probably figured it out by now, but here's some examples from navigation2 I've made

https://github.com/ros-planning/navigation2/tree/master/nav2_navfn_planner

That is a planning plugin, see Cmakelists for the magic you need for that, otherwise it looks more or less as you'd expect in ROS1.

https://github.com/ros-planning/navigation2/blob/master/nav2_planner/src/planner_server.cpp

That is the action server hosting said plugin, its an incredibly simple server so its a good example of both pluginlib and action servers in ROS2

Does that meet the scope of your wants?

@ruffsl
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ruffsl commented Oct 22, 2019

You can also take a look at pluginlib usage in rosbag2, like the storage or converter plugin setup:

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