In this chapter, we covered some advanced concepts, such as the pluginlib , nodelets , and Gazebo plugins, which can be used to add more functionalities to a complex ROS application. We discussed the basics of pluginlib and saw an example using it. After covering pluginlib, we looked at the ROS nodelets, which are widely used in high-performance applications. Also, we looked at an example using the ROS nodelets. Finally, we came to the Gazebo plugins that are used to add functionalities to Gazebo simulators.
In the next chapter, we will discuss more on the RViz plugin and the ROS controllers.
