We will create a plugin_description.xml file so that the plugin can be found and understood by other ROS packages in the system, as we have done in the case of plugins in the previous subsection:

<export> 
    <rviz plugin="${prefix}/plugin_description.xml"/> 
</export> 

The plugin_description.xml file has the following entry at least:

<library path="lib/librviz_plugin_tutorials"> 
  <class name="rviz_plugin_tutorials/Imu" 
         type="rviz_plugin_tutorials::ImuDisplay" 
         base_class_type="rviz::Display"> 
    <description> 
      Displays direction and scale of accelerations from sensor_msgs/Imu messages. 
    </description> 
    <message_type>sensor_msgs/Imu</message_type> 
  </class> 
</library>