Plans for pluginlib for Python

asked 2011-10-12 10:17:26 -0600

David Lu

10932 ●123 ●219 ●250 http://MetroRobots.com/

updated 2014-01-28 17:10:34 -0600

ngrennan
1 ●1 ●1

Is there any way (or plan to make a way) to create plugins in Python? It seems C++ is the only option at the moment.

Specifically I'd like to make trajectory filters in Python.

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answered 2011-10-13 08:11:52 -0600

Lorenzo Riano
1342 ●26 ●34 ●50 http://www.eecs.berkel...

One of the best options to comply with the existing architecture is to write a plugin using python, then wrap it with boost python. I've used it a lot and it is extremely easy to wrap C++ code in Python and call the python interpreter (thus your plugin) from C++.

I usually write code in Python, profile it and write in C++ the functions that are more demanding. With boost one can easily have a C++ code (the plugin interface) that calls Python (your plugin) that calls some other C++ functions for time-critical applications!

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answered 2011-10-12 12:57:00 -0600

tfoote

58457 ●128 ●550 ●526 http://www.ros.org/

"Plugins" in python are much simpler and don't need a special library to dynamically load a library. If you'd like an example of a python plugin infrastructure inside ROS take a look at roswtf

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That's one way to do it, but roswtf doesn't use pluginlib. pluginlib (and the associated packages filters and trajectory_filters) uses a ClassLoader which loads up a specific C++ class in order to use the plugin.

David Lu ( 2011-10-13 07:03:58 -0600 )edit

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