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

<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”.