rtabmap_ros/nodelet_plugins.xml

<library path="lib/librtabmap_ros"> 
  <class name="rtabmap/data_throttle" 
         type="rtabmap::DataThrottleNodelet" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>
  
  <class name="rtabmap/stereo_throttle" 
         type="rtabmap::StereoThrottleNodelet" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>
  
  <class name="rtabmap/data_odom_sync" 
         type="rtabmap::DataOdomSyncNodelet" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>
    
  <class name="rtabmap/point_cloud_xyzrgb" 
         type="rtabmap::PointCloudXYZRGB" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>
  
  <class name="rtabmap/disparity_to_depth" 
         type="rtabmap::DisparityToDepth" 
         base_class_type="nodelet::Nodelet">
    <description>
      This is my nodelet.
    </description>
  </class>
</library>