When to rather use pluginlib instead of multiple nodes?

asked 2020-04-17 06:13:40 -0500

MrCheesecake gravatar image

I'm actual working on an architecture for a ROS project which consists of a base robot. It should be able to add more sensors and logic depending on the use case it has to do. For example add a TOF Sensor to measure the distance to ground on some given gps positions. On my research I'm found the pluginlib and now I'm wondering if it is suitable to make for example my mission manager modular with pluginlib or just use multiple nodes in the package and start those I need. So my Question is when to use pluginlib instead of just some single nodes? What are the advantages/disadvantages? Or do somebody recommend something completely different?

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