.. _rqt_plugin_model:

rqt Plugin Model
================

Within a Component, a **rqt Plugin** is represented by a **GenericDomainModel** with the following **Attributes**

+-------------+------------+-------------+
| Attributes  | Value      | Description |
+=============+============+=============+
| Type        | Plugin     |             |
+-------------+------------+-------------+
| Domain      | rqt        |             |
+-------------+------------+-------------+

... and a connected template file **Resource** as shown below.

.. figure:: images/rqt_robotsteering_model.png

.. figure:: images/rqt_robotsteering_model_template_resource.png

----

A rqt Plugin Model may contain the following elements:

.. toctree::
   :maxdepth: 2

   rqt_plugin_ros_topic_publisher
   rqt_plugin_ros_service_server
   rqt_plugin_ros_action_server
   rqt_plugin_urdf_link_port
   rqt_plugin_parameter