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Additionally of what @candronikos answered (which is very helpful), I would like to add more detail to point #2 : which says "Export that library from the base class manifest (Done in manifest.xml in Fuerte)"

In catkinized versions manifest.xml is obviously now replaced by package.xml and the export must be done like this:

<export>
<my_pkg_base_class plugin="${prefix}/plugins.xml" />
</export>

where my_pkg_base_class is the pkg name that contains your base class, make sure you are able to do roscd to it!

I spent a lot of time trying to make a moveit move_group capability plugin because I was exporting with my_pkg_base_class as move_group but it should be moveit_ros_move_group, like this:

<export>
<moveit_ros_move_group plugin="${prefix}/plugins.xml" />
</export>

Even when the namespace and folder name is set to move_group!

Additionally of what @candronikos answered (which is very helpful), I would like to add more detail to point #2 : which says "Export that library from the base class manifest (Done in manifest.xml in Fuerte)"

In catkinized versions manifest.xml is obviously now replaced by package.xml and the export must be done like this:

<export>
<my_pkg_base_class plugin="${prefix}/plugins.xml" />
</export>

where my_pkg_base_class is the pkg name that contains your base class, make sure you are able to do roscd to it!

I spent a lot of time trying to make a moveit move_group capability plugin because I was exporting with my_pkg_base_class as move_group but it should be moveit_ros_move_group, like this:

<export>
<moveit_ros_move_group plugin="${prefix}/plugins.xml" />
</export>

Even when the namespace and folder name is was set to move_group!