nodelet_plugins.xml

<library path="lib/librtabmap_ros"> 
  <class name="rtabmap_ros/data_throttle" 
         type="rtabmap_ros::DataThrottleNodelet" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>
  
  <class name="rtabmap_ros/stereo_throttle" 
         type="rtabmap_ros::StereoThrottleNodelet" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>
  
  <class name="rtabmap_ros/data_odom_sync" 
         type="rtabmap_ros::DataOdomSyncNodelet" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>
      
  <class name="rtabmap_ros/point_cloud_xyzrgb" 
         type="rtabmap_ros::PointCloudXYZRGB" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>
  
  <class name="rtabmap_ros/point_cloud_xyz" 
         type="rtabmap_ros::PointCloudXYZ" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>
  
  <class name="rtabmap_ros/disparity_to_depth" 
         type="rtabmap_ros::DisparityToDepth" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>
  
  <class name="rtabmap_ros/obstacles_detection" 
         type="rtabmap_ros::ObstaclesDetection" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>

  <class name="rtabmap_ros/point_cloud_aggregator" 
         type="rtabmap_ros::PointCloudAggregator" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>

</library>