A working example showcasing the pluginlib feature of ROS, simular to what is used between the ControlManager and the trackers and controllers within the MRS UAV System.
- defines the interface for plugins
- defines a common handlers, which are passed to the plugins
- dynamically loads the plugins defined in plugins.yaml and example_plugin_manager.yaml
- activates the plugin defined in example_plugin_manager.yaml
- regularly updates the active plugin and queries a result
- defines a plugin complying with the interface
- the plugin loads its params and prepares itself for activation
- it calculates results in its
update()method and returns them to the manager
roslaunch example_plugin_manager example_plugin_manager.launch- mrs_lib for param loading and mutexing