Add pluginlib tutorial code

rclcpp/plugins/polygon_base/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package polygon_base
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

rclcpp/plugins/polygon_base/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.20)
+project(polygon_base)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
+find_package(pluginlib REQUIRED)
+
+add_library(polygon_base INTERFACE)
+add_library(polygon_base::polygon_base ALIAS polygon_base)
+target_compile_features(polygon_base INTERFACE c_std_99 cxx_std_17)  # Require C99 and C++17
+target_include_directories(polygon_base INTERFACE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_link_libraries(
+  polygon_base INTERFACE
+  ${pluginlib_TARGETS}
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+install(
+  TARGETS polygon_base
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(
+  "include/${PROJECT_NAME}"
+)
+ament_export_targets(
+  export_${PROJECT_NAME}
+)
+
+ament_package()

rclcpp/plugins/polygon_base/include/polygon_base/regular_polygon.hpp

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+// Copyright 2025 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef POLYGON_BASE__REGULAR_POLYGON_HPP_
+#define POLYGON_BASE__REGULAR_POLYGON_HPP_
+
+namespace polygon_base
+{
+class RegularPolygon
+{
+public:
+  virtual void initialize(double side_length) = 0;
+  virtual double area() = 0;
+  virtual ~RegularPolygon() {}
+
+protected:
+  RegularPolygon() {}
+};
+}  // namespace polygon_base
+
+#endif  // POLYGON_BASE__REGULAR_POLYGON_HPP_

rclcpp/plugins/polygon_base/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>polygon_base</name>
+  <version>0.21.3</version>
+  <description>Examples of polygon base</description>
+
+  <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
+  <maintainer email="alejandro@openrobotics.org">Alejandro Hernandez Cordero</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <author email="jacob@openrobotics.org">Jacob Perron</author>
+  <author>Mikael Arguedas</author>
+  <author>Morgan Quigley</author>
+  <author email="sloretz@openrobotics.org">Shane Loretz</author>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+
+  <depend>pluginlib</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rclcpp/plugins/polygon_plugins/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package polygon_plugins
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

rclcpp/plugins/polygon_plugins/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.20)
+project(polygon_plugins)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(polygon_base REQUIRED)
+find_package(pluginlib REQUIRED)
+
+add_library(polygon_plugins SHARED
+  src/polygon_plugins.cpp
+)
+target_compile_features(polygon_plugins PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_include_directories(polygon_plugins PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_link_libraries(polygon_plugins PUBLIC
+  ${polygon_base_TARGETS}
+  ${pluginlib_TARGETS}
+)
+
+add_executable(area_node src/area_node.cpp)
+target_include_directories(area_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_compile_features(area_node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+target_link_libraries(
+  area_node
+  ${polygon_base_TARGETS}
+  ${pluginlib_TARGETS}
+)
+
+install(
+  TARGETS polygon_plugins
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+install(TARGETS area_node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+pluginlib_export_plugin_description_file(polygon_base plugins.xml)
+ament_package()

rclcpp/plugins/polygon_plugins/include/polygon_plugins/polygon_plugins.hpp

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+// Copyright 2025 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef POLYGON_PLUGINS__POLYGON_PLUGINS_HPP_
+#define POLYGON_PLUGINS__POLYGON_PLUGINS_HPP_
+
+namespace polygon_plugins
+{
+
+class PolygonPlugins
+{
+public:
+  PolygonPlugins();
+
+  virtual ~PolygonPlugins();
+};
+
+}  // namespace polygon_plugins
+
+#endif  // POLYGON_PLUGINS__POLYGON_PLUGINS_HPP_

rclcpp/plugins/polygon_plugins/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>polygon_plugins</name>
+  <version>0.21.3</version>
+  <description>Example of polygon plugins</description>
+
+  <maintainer email="aditya.pande@openrobotics.org">Aditya Pande</maintainer>
+  <maintainer email="alejandro@openrobotics.org">Alejandro Hernandez Cordero</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <author email="jacob@openrobotics.org">Jacob Perron</author>
+  <author>Mikael Arguedas</author>
+  <author>Morgan Quigley</author>
+  <author email="sloretz@openrobotics.org">Shane Loretz</author>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+
+  <depend>polygon_base</depend>
+  <depend>pluginlib</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rclcpp/plugins/polygon_plugins/plugins.xml

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+<library path="polygon_plugins">
+  <class type="polygon_plugins::Square" base_class_type="polygon_base::RegularPolygon">
+    <description>This is a square plugin.</description>
+  </class>
+  <class type="polygon_plugins::Triangle" base_class_type="polygon_base::RegularPolygon" name="awesome_triangle">
+    <description>This is a triangle plugin.</description>
+  </class>
+</library>

rclcpp/plugins/polygon_plugins/src/area_node.cpp

@@ -0,0 +1,43 @@
+// Copyright 2025 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <pluginlib/class_loader.hpp>
+#include <polygon_base/regular_polygon.hpp>
+
+int main(int argc, char ** argv)
+{
+  // To avoid unused parameter warnings
+  (void) argc;
+  (void) argv;
+
+  pluginlib::ClassLoader<polygon_base::RegularPolygon> poly_loader("polygon_base",
+    "polygon_base::RegularPolygon");
+
+  try {
+    std::shared_ptr<polygon_base::RegularPolygon> triangle =
+      poly_loader.createSharedInstance("awesome_triangle");
+    triangle->initialize(10.0);
+
+    std::shared_ptr<polygon_base::RegularPolygon> square =
+      poly_loader.createSharedInstance("polygon_plugins::Square");
+    square->initialize(10.0);
+
+    printf("Triangle area: %.2f\n", triangle->area());
+    printf("Square area: %.2f\n", square->area());
+  } catch(pluginlib::PluginlibException & ex) {
+    printf("The plugin failed to load for some reason. Error: %s\n", ex.what());
+  }
+
+  return 0;
+}

rclcpp/plugins/polygon_plugins/src/polygon_plugins.cpp

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+// Copyright 2025 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <cmath>
+#include <polygon_base/regular_polygon.hpp>
+
+namespace polygon_plugins
+{
+class Square : public polygon_base::RegularPolygon
+{
+public:
+  void initialize(double side_length) override
+  {
+    side_length_ = side_length;
+  }
+
+  double area() override
+  {
+    return side_length_ * side_length_;
+  }
+
+protected:
+  double side_length_;
+};
+
+class Triangle : public polygon_base::RegularPolygon
+{
+public:
+  void initialize(double side_length) override
+  {
+    side_length_ = side_length;
+  }
+
+  double area() override
+  {
+    return 0.5 * side_length_ * getHeight();
+  }
+
+  double getHeight()
+  {
+    return sqrt((side_length_ * side_length_) - ((side_length_ / 2) * (side_length_ / 2)));
+  }
+
+protected:
+  double side_length_;
+};
+}  // namespace polygon_plugins
+
+#include <pluginlib/class_list_macros.hpp>
+
+PLUGINLIB_EXPORT_CLASS(polygon_plugins::Square, polygon_base::RegularPolygon)
+PLUGINLIB_EXPORT_CLASS(polygon_plugins::Triangle, polygon_base::RegularPolygon)