Plug-in structure

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Revision as of 08:43, 25 April 2010 by Jca (talk | contribs)

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