From d31d2b6f8da86a41acaaccc7263d9311bd92f27e Mon Sep 17 00:00:00 2001
From: "David V. Lu" <davidvlu@gmail.com>
Date: Mon, 21 Oct 2024 22:46:44 -0400
Subject: [PATCH] List plugins script

Signed-off-by: David V. Lu <davidvlu@gmail.com>
---
 pluginlib/CMakeLists.txt       | 18 +++++++++++
 pluginlib/src/list_plugins.cpp | 57 ++++++++++++++++++++++++++++++++++
 2 files changed, 75 insertions(+)
 create mode 100644 pluginlib/src/list_plugins.cpp

diff --git a/pluginlib/CMakeLists.txt b/pluginlib/CMakeLists.txt
index c3216ca..f25a30a 100644
--- a/pluginlib/CMakeLists.txt
+++ b/pluginlib/CMakeLists.txt
@@ -30,6 +30,24 @@ 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
+  ${PROJECT_NAME}
+)
+ament_target_dependencies(list_plugins
+  ament_index_cpp
+  class_loader
+  rcpputils
+  rcutils
+)
+install(TARGETS list_plugins
+        DESTINATION lib/${PROJECT_NAME}
+)
+
 ament_export_dependencies(ament_index_cpp class_loader rcutils rcpputils tinyxml2_vendor TinyXML2)
 
 ament_export_targets(export_${PROJECT_NAME})
diff --git a/pluginlib/src/list_plugins.cpp b/pluginlib/src/list_plugins.cpp
new file mode 100644
index 0000000..5371917
--- /dev/null
+++ b/pluginlib/src/list_plugins.cpp
@@ -0,0 +1,57 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2024, Metro Robots
+ *  All rights reserved.
+ *
+ *  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 Metro Robots 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 OWNER 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 <pluginlib/class_loader.hpp>
+#include <iostream>
+
+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;
+}