RobWorkProject
RobWork Plugins and Extensions

This tutorial will cover the creation and usage of RobWork plugins. This should not be confused with the QT based GUI plugins which are discussed in another tutorial: RobWorkStudio/GUI plugins.

Introduction

The primary usage of the RobWork plugins are to extend the core functionality of RobWork. This might be as simple as a loader to load an unsupported image file.

Loading of plugins in RobWork need to be done actively. This is most easily done by calling initialize on the RobWork instance:

RobWork::getInstance()->initialize();

This will search for a settings file which may be located in the same folder as the executable. More detail on the plugin structure can be found in Plugin structure.

Tutorial 1 - A simple plugin

In this section we will see how to create a simple plugin which can be loaded in runtime by RobWork. First the header file TemplatePlugin.hpp:

class TemplatePlugin: public rw::common::Plugin {
public:
TemplatePlugin();
virtual ~TemplatePlugin();
std::vector<rw::common::Extension::Descriptor> getExtensionDescriptors();
};

as can be seen only two methods are necesary: getExtensionDescriptors() and makeExtension(). The getExtensionDescriptors() should return a list describing all extensions provided by the plugin. The makeExtension take a string id and create the extension fitting the id.

TODO:

Tutorial 2 - ImageLoader plugin extension

The class rw::loaders::ImageLoader define an extension point for loading images. In this example we will extend the above plugin such that it will register an ImageLoader extension to RobWork uppon loading.

TODO:

Tutorial 3 - A simple xml based extension

Extensions does not have to be coded. They can also be pure information. The extension structure in RobWork allow for xml files to be parsed which contain extension information. In this tutorial we will go through a simple example showing how to create such an extension.

TODO:

Tutorial 4 - A simple lua based extension

TODO:

Tutorial 5 - A simple python based extension