Implementing ROS 2 Visualization and Simulation Plugins
Plugins are essential in modern software development for creating modular, extensible systems. They integrate with host applications to provide extra functionality without modifying core code, relying on the host to load and execute them at runtime. By adhering to standard interfaces, plugins ensure compatibility and flexibility, making them ideal for enhancing tools such as simulators or visualizers. In ROS 2, plugins enable custom data filters, controllers, or visualizations, tailoring systems to specific needs.
Plugins are implemented as shared libraries and can be used in different applications. In this chapter, we will explore three types of plugins: an rqt
plugin that implements a custom interface for controlling a robot integrated with the RQT framework, an RViz2
plugin that creates a custom visualization tool for your data in RViz2
, and a Gazebo plugin that leverages Gazebo’s functionalities for direct integration...