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Boilerplate Example for ROS2 #133
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@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. 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? |
You can also take a look at pluginlib usage in rosbag2, like the storage or converter plugin setup: |
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.
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