Added rtabmap_ros plugin interface

include/rtabmap_ros/PluginInterface.h

@@ -0,0 +1,45 @@
+#ifndef PLUGIN_INTERFACE_H_
+#define PLUGIN_INTERFACE_H_
+
+#include <ros/ros.h>
+#include <string>
+#include <sensor_msgs/PointCloud2.h>
+
+namespace rtabmap_ros
+{
+
+class PluginInterface
+{
+public:
+  PluginInterface();
+  virtual ~PluginInterface() {}
+
+  const std::string getName() const
+  {
+    return name_;
+  }
+
+  bool isEnabled() {
+    return enabled_;
+  }
+
+  void initialize(const std::string name, ros::NodeHandle & nh);
+
+  virtual sensor_msgs::PointCloud2 filterPointCloud(const sensor_msgs::PointCloud2 msg) = 0;
+
+protected:
+  /** @brief This is called at the end of initialize().  Override to
+   * implement subclass-specific initialization.
+   **/
+  virtual void onInitialize() {}
+
+  bool enabled_;  ///< Currently this var is managed by subclasses. TODO: make this managed by this class and/or container class.
+  std::string name_;
+  ros::NodeHandle nh_;
+
+};
+
+}  // namespace rtabmap_ros
+
+#endif  // PLUGIN_INTERFACE_H_
+