rtabmap_ros/rtabmap_rviz_plugins/rviz_plugins.xml

<library path="rtabmap_rviz_plugins">
  <class name="rtabmap_rviz_plugins/MapCloud"
         type="rtabmap_rviz_plugins::MapCloudDisplay"
         base_class_type="rviz_common::Display">
    <description>
      Displays graph point clouds from rtabmap_rviz_plugins/MapData messages.
    </description>
    <message_type>rtabmap_rviz_plugins/msg/MapData</message_type>
  </class>
  <class name="rtabmap_rviz_plugins/MapGraph"
         type="rtabmap_rviz_plugins::MapGraphDisplay"
         base_class_type="rviz_common::Display">
    <description>
      Displays graphs from rtabmap_rviz_plugins/MapGraph messages.
    </description>
    <message_type>rtabmap_rviz_plugins/msg/MapGraph</message_type>
  </class>
  <class name="rtabmap_rviz_plugins/Info"
         type="rtabmap_rviz_plugins::InfoDisplay"
         base_class_type="rviz_common::Display">
    <description>
      Displays information from rtabmap_rviz_plugins/Info messages.
    </description>
    <message_type>rtabmap_rviz_plugins/msg/Info</message_type>
  </class>
  <class name="rtabmap_rviz_plugins/OrbitOriented"
         type="rtabmap_rviz_plugins::OrbitOrientedViewController"
         base_class_type="rviz_common::ViewController">
    <description>
      Orbit camera turning with the target frame's yaw, so the view stays behind the robot. Optionally (built with octomap), the camera is moved in front of the octomap obstacles that would hide the target.
    </description>
  </class>
</library>