Hey im not totally clear on how to use pluginlib. Say i am using move_base and want to include the plugins for costmap_2d as well as the local and global planner.
Then i have to define the lib of costmap2d and the planners in the android.mk file.
like this:
LOCAL_WHOLE_STATIC_LIBRARIES := libcostmap_2d libbase_local_planner libglobal_planner
usually i would have defined the plugins in my yaml file like this:
plugins:
- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
But with rosjava i dont have the option to use yaml so i set the rosparams with the ParameterTree.set(name,value);
Do i have to define the plugins there?
I hope i made my question clear.
kind regards!
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