# rviz_plugin_description.xml

The `rviz_plugin_description.xml` file is the plugin manifest that makes `SubmapsDisplay` available to RViz through `pluginlib`.

It declares a single plugin class:

- **Name**: `cartographer_rviz/SubmapsDisplay`
- **Type**: `cartographer_rviz::SubmapsDisplay`
- **Base class**: `rviz_common::Display`
- **Library**: `cartographer_rviz`

```xml
<library path="cartographer_rviz">
  <class name="cartographer_rviz/SubmapsDisplay"
         type="cartographer_rviz::SubmapsDisplay"
         base_class_type="rviz_common::Display">
    <description>
      Displays submaps as a unified map in RViz.
      https://github.com/cartographer-project/cartographer_ros
    </description>
  </class>
</library>
```

The manifest is exported by the build system via `pluginlib_export_plugin_description_file(rviz_common rviz_plugin_description.xml)`, so RViz discovers the plugin and lists it as a display under the name "SubmapsDisplay".