Console Plugin System¶
To get maplab into a state with all core plugins (VIMap file system integration, BA, LC, etc.), run
catkin build maplab
maplab is a metapackage containing the maplab console and all non-experimental plugins to ease the installation of a functioning console. You can type
help in the console to get a list of all installed plugins.
If a plugin doesn’t show up in a console, you may need to recompile it with rerunning cmake (as this will create the entry in the plugin file list):
catkin build --no-deps --force-cmake <missing_plugin_name>
How it works¶
Each plugin adds an entry with the path to the library
$CATKIN_WS/devel/share/console-plugins.txt (“plugin list”) during compilation. This list is then opened by the maplab console application. The application tries to dynamically load the library referred in the
Uninstalling a plugin¶
Delete the library
.so: Delete the file under
$CATKIN_WS/devel/lib/lib<PACKAGE_NAME>.so. Maplab will still try to load the library, but detect that the file is missing and delete the entry from the list.
Note: to readd the plugin to the console, it’s not sufficient to only recompile the package. You also need to make sure that cmake is rerun by running catkin with the
Adding a new plugin¶