Plug-in structure

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