simplified plugin architecture - Library used in robotics to implement plugin based system ☐ Pluginlib - Case study for plugin architecture - MoveIt • Limitations Summary ## I ntroduction • Abi Sivaraman jpg)  ## ros/pluginlib Library for loading/unloading plugins in ROS packages during runtime ![Image](/uploads/docume between nodes • Need plugins for performance • In a perfect world, ROS would not require plugins ## Pluginlib • Defacto Plugin Manager for ROS projects • Built on top of class_loader, rcpputils and rcutils