ros
diff --git a/‎pluginlib/CMakeLists.txt‎
Lines changed: 12 additions & 0 deletions b/‎pluginlib/CMakeLists.txt‎
Lines changed: 12 additions & 0 deletions
diff --git a/‎src/list_plugins.cpp‎
Lines changed: 49 additions & 0 deletions b/‎src/list_plugins.cpp‎
Lines changed: 49 additions & 0 deletions
@@ -29,6 +29,18 @@ target_link_libraries(${PROJECT_NAME} INTERFACE
   rcpputils::rcpputils
   tinyxml2::tinyxml2)
 
+add_executable(list_plugins src/list_plugins.cpp)
+target_include_directories(list_plugins PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+target_link_libraries(list_plugins
+  ${PROJECT_NAME}
+)
+install(TARGETS list_plugins
+        DESTINATION lib/${PROJECT_NAME}
+)
+
 ament_export_dependencies(ament_index_cpp class_loader rcutils rcpputils tinyxml2_vendor TinyXML2)
 
 ament_export_targets(export_${PROJECT_NAME})
 
@@ -0,0 +1,49 @@
+// Copyright (c) 2025, Metro Robots
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the Willow Garage nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+/* Author: David V. Lu!! */
+
+#include <iostream>
+#include <pluginlib/class_loader.hpp>
+
+int main(int argc, char ** argv)
+{
+  if (argc != 3) {
+    std::cerr << "Requires two arguments!" << std::endl;
+    std::cerr << "Usage: " << argv[0];
+    std::cerr << " [package] [base_class]" << std::endl;
+    return -1;
+  }
+
+  // Note: You cannot use void if you want to use the templated createSharedInstance methods
+  pluginlib::ClassLoader<void> cl(argv[1], argv[2]);
+  for (const auto & declared : cl.getDeclaredClasses()) {
+    std::cout << declared << std::endl;
+  }
+  return 0;
+}