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rviz is using pluginlib in ROS 2 right now, so maybe you could use it as a reference.

Also are there any command line tools under ROS 2 for debugging? For example, in ROS1 there is rospack plugins --attrib=plugin

Not right now. That would be a nice enhancement though :)

There's some small documentation here:

https://github.com/ros/pluginlib/blob/c0bbfaf8b22f3800bc3bd20414b9b15ea0aa52de/pluginlib/cmake/pluginlib_export_plugin_description_file.cmake#L23-L79