Exporting plugins

As mentioned in the previous section, to export the plugins, we have to add the following lines to the polygon_plugins.xml package manifest file:

<export> 
  <pluginlib_tutorials_ plugin="${prefix}/polygon_plugins.xml" /> 
</export> 

To check that everything we have done is working, we will first need to build the workspace and source the resulting setup file, then try running the following rospack command:

$ catkin_make 
$ rospack plugins --attrib=plugin pluginlib_tutorials 

This should output the full path to the polygon_plugins.xml file if the ROS toolchain is set up properly to work with our plugin.