1、nav_core::BaseGlobalPlanner插件
navigation\base_local_planner\src\trajectory_planner_ros.cpp(56):
PLUGINLIB_EXPORT_CLASS(base_local_planner::TrajectoryPlannerROS, nav_core::BaseLocalPlanner)
navigation\carrot_planner\src\carrot_planner.cpp(41):
PLUGINLIB_EXPORT_CLASS(carrot_planner::CarrotPlanner, nav_core::BaseGlobalPlanner)
navigation\global_planner\src\planner_core.cpp(51):
PLUGINLIB_EXPORT_CLASS(global_planner::GlobalPlanner, nav_core::BaseGlobalPlanner)
2、Layer插件
navigation\costmap_2d\plugins\footprint_layer.cpp(44):
PLUGINLIB_EXPORT_CLASS(costmap_2d::FootprintLayer, costmap_2d::Layer)
navigation\costmap_2d\plugins\inflation_layer.cpp(43):
PLUGINLIB_EXPORT_CLASS(costmap_2d::InflationLayer, costmap_2d::Layer)
navigation\costmap_2d\plugins\obstacle_layer.cpp(42):
PLUGINLIB_EXPORT_CLASS(costmap_2d::ObstacleLayer, costmap_2d::Layer)
navigation\costmap_2d\plugins\static_layer.cpp(42):
PLUGINLIB_EXPORT_CLASS(costmap_2d::StaticLayer, costmap_2d::Layer)
navigation\costmap_2d\plugins\voxel_layer.cpp(43):
PLUGINLIB_EXPORT_CLASS(costmap_2d::VoxelLayer, costmap_2d::Layer)
3、nav_core::BaseLocalPlanner插件
navigation\dwa_local_planner\src\dwa_planner_ros.cpp(50):
PLUGINLIB_EXPORT_CLASS(dwa_local_planner::DWAPlannerROS, nav_core::BaseLocalPlanner)
原文：http://dkkkry.blog.51cto.com/8090800/1627991