File _service:obs_scm:README.en.md of Package ros2_pluginlib

# pluginlib

#### Description

The pluginlib package provides tools for writing and dynamically loading plugins using the ROS build infrastructure. To work, these tools require plugin providers to register their plugins in the package.xml of their package. pluginlib is a C++ library for loading and unloading plugins from within a ROS package. Plugins are dynamically loadable classes that are loaded from a runtime library (i.e. shared object, dynamically linked library). With pluginlib, one does not have to explicitly link their application against the library containing the classes -- instead pluginlib can open a library containing exported classes at any point without the application having any prior awareness of the library or the header file containing the class definition. Plugins are useful for extending/modifying application behavior without needing the application source code.

#### Software Architecture

Pluginlib includes The Plugin Description File and  Registering/Exporting a Plugin Class

input:

```
pluginlib/
└── pluginlib
    ├── CHANGELOG.rst
    ├── CMakeLists.txt
    ├── cmake
    │   ├── blank.in
    │   ├── pluginlib_enable_plugin_testing.cmake
    │   ├── pluginlib_export_plugin_description_file.cmake
    │   └── pluginlib_package_hook.cmake
    ├── include
    │   └── pluginlib
    ├── package.xml
    ├── pluginlib-extras.cmake
    └── test
        ├── include
        ├── test_package.xml
        ├── test_plugins.cpp
        ├── test_plugins.xml
        ├── unique_ptr_test.cpp
        └── utest.cpp
```

#### Installation

1.  Download RPM

aarch64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/pluginlib/ros-foxy-ros-pluginlib-2.5.4-2.oe2203.aarch64.rpm
```

x86_64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/pluginlib/ros-foxy-ros-pluginlib-2.5.4-2.oe2203.x86_64.rpm
```

2.  Install RPM

aarch64:

```
sudo rpm -ivh --nodeps --force ros-foxy-ros-pluginlib-2.5.4-2.oe2203.aarch64.rpm
```

x86_64:

```
sudo rpm -ivh --nodeps --force ros-foxy-ros-pluginlib-2.5.4-2.oe2203.x86_64.rpm
```

#### Instructions

Dependence installation:

```
sh /opt/ros/foxy/install_dependence.sh
```

Exit the following output file under the /opt/ros/foxy/ directory,Prove that the software installation is successful.

output:

```
pluginlib/
├── cmake.lock
├── env.sh
├── lib
│   ├── pkgconfig
│   │   └── pluginlib.pc
│   └── pluginlib
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
├── setup.zsh
└── share
    └── pluginlib
        └── cmake
```

#### Contribution

1.  Fork the repository
2.  Create Feat_xxx branch
3.  Commit your code
4.  Create Pull Request

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