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README.en.md
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#### Description
The ros_comm package provides tools for writing and dynamically loading plugins using the ROS build infrastructure. To work, these tools require plugin providers to register their plugins in the package.xml of their package. ros_comm is a C++ library for loading and unloading plugins from within a ROS package. Plugins are dynamically loadable classes that are loaded from a runtime library (i.e. shared object, dynamically linked library). With ros_comm, one does not have to explicitly link their application against the library containing the classes -- instead ros_comm can open a library containing exported classes at any point without the application having any prior awareness of the library or the header file containing the class definition. Plugins are useful for extending/modifying application behavior without needing the application source code.
ROS communications-related packages, including core client libraries (roscpp, rospy) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).
#### Software Architecture
ros_comm includes The Plugin Description File and Registering/Exporting a Plugin Class
The ros_comm stack contains the ROS middleware/communications packages. These packages are collectively known as the ROS "Graph" layer. They provide implementations and tools for topics, nodes, services, and parameters. This includes the supported ROS client libraries: roscpp, rospy, and roslisp.
#### Installation

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# ros_comm
#### 介绍
ros_comm软件包提供了使用ROS构建基础结构编写和动态加载插件的工具。这些工具需要插件提供者才能在其程序包的package.xml中注册其插件才能正常工作。
ros_comm是一个C ++库，用于从ROS包中加载和卸载插件。插件是从运行时库（即共享对象，动态链接库）加载的可动态加载的类。使用ros_comm，不必将其应用程序显式链接到包含类的库，而是ros_comm可以随时打开包含导出类的库，而无需应用程序事先知道包含类定义的库或头文件。插件可用于扩展/修改应用程序行为，而无需应用程序源代码。
ros_comm软件包提供了与ROS通信相关的软件包，包括核心客户端库（roscpp，rospy）和图形工具
#### 软件架构
软件架构说明
ros_comm 包含注册/导出插件的类和插件描述xml文件
该ros_comm堆栈包含ROS中间件/通信包。这些程序包统称为ROS“图形”层。它们为主题，节点，服务和参数提供了实现和工具。这包括受支持的ROS客户端库：roscpp，rospy和roslisp。
#### 安装教程