nodelet_plugins.xml

<library path="lib/libobstacle_detector_nodelets">

  <class name="obstacle_detector/ScansMerger" 
         type="obstacle_detector::ScansMergerNodelet" 
         base_class_type="nodelet::Nodelet">
    <description>
      Scans Merger Nodelet
    </description>
  </class>

  <class name="obstacle_detector/ObstacleExtractor" 
         type="obstacle_detector::ObstacleExtractorNodelet" 
         base_class_type="nodelet::Nodelet">
    <description>
      Obstacle Extractor Nodelet
    </description>
  </class>

  <class name="obstacle_detector/ObstacleTracker" 
         type="obstacle_detector::ObstacleTrackerNodelet" 
         base_class_type="nodelet::Nodelet">
    <description>
      Obstacle Tracker Nodelet
    </description>
  </class>

  <class name="obstacle_detector/ObstaclePublisher" 
         type="obstacle_detector::ObstaclePublisherNodelet" 
         base_class_type="nodelet::Nodelet">
    <description>
      Obstacle Publisher Nodelet
    </description>
  </class>

</library>