Plug-in structure
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Introduction
A plug-in is a library module that be loaded by an AURS server and extend the functionality of the server. The plug-in can use the services provided by the server core.
The services provided by the server includes:
- Service to direct commands from a client to the plugin (XML-formatted)
- API to decode XML commands
- Access to specific data sources - e.g. odometry pose, laser scans or camera images.
- API for global variable creation and access - for parameter configuration and module status.
- Access to data from other plug-ins
- API to call functions in other plug-ins
- API to allow other plug-ins to call this plug-in
Minimum plugin
A minimum plug-in can reply to a command and show a bit of online help.
Two codefiles and a Makefile is needed (see the minimum directory in the code)
Makefile ufuncminimum.h ufuncminimum.cpp
The Makefile gives the name of the plug-in and must know which files to compile.
@todo which lines
Global variables and inter-plug-in calls
See also Variables
Laser scanner access
@todo
Camera image access
@todo