Fix syntax of nodelet manifest file

By splitting files for each library.

Close #131

pcl_ros/package.xml

@@ -48,7 +48,11 @@
   <test_depend>rostest</test_depend>
 
   <export>
-     <nodelet plugin="${prefix}/pcl_nodelets.xml"/>
+    <nodelet plugin="${prefix}/plugins/nodelet/libpcl_ros_features.xml"/>
+    <nodelet plugin="${prefix}/plugins/nodelet/libpcl_ros_filters.xml"/>
+    <nodelet plugin="${prefix}/plugins/nodelet/libpcl_ros_io.xml"/>
+    <nodelet plugin="${prefix}/plugins/nodelet/libpcl_ros_segmentation.xml"/>
+    <nodelet plugin="${prefix}/plugins/nodelet/libpcl_ros_surface.xml"/>
   </export>
 
 </package>

pcl_ros/plugins/nodelet/libpcl_ros_features.xml

@@ -0,0 +1,85 @@
+<!-- PCL Features library component -->
+<library path="lib/libpcl_ros_features">
+  <class name="pcl/BoundaryEstimation" type="BoundaryEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      BoundaryEstimation estimates whether a set of points is lying on surface boundaries using an angle criterion. The
+      code makes use of the estimated surface normals at each point in the input data set.
+    </description>
+  </class>
+
+  <class name="pcl/FPFHEstimation" type="FPFHEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset
+      containing points and normals.
+    </description>
+  </class>
+
+  <class name="pcl/FPFHEstimationOMP" type="FPFHEstimationOMP" base_class_type="nodelet::Nodelet">
+    <description>
+      FPFHEstimationOMP estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset
+      containing points and normals, in parallel, using the OpenMP standard.
+    </description>
+  </class>
+
+  <class name="pcl/SHOTEstimation" type="SHOTEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      SHOTEstimation estimates SHOT descriptor for a given point cloud dataset
+      containing points and normals.
+    </description>
+  </class>
+
+  <class name="pcl/SHOTEstimationOMP" type="SHOTEstimationOMP" base_class_type="nodelet::Nodelet">
+    <description>
+      SHOTEstimationOMP estimates SHOT descriptor for a given point cloud dataset
+      containing points and normals, in parallel, using the OpenMP standard.
+    </description>
+  </class>
+
+  <class name="pcl/MomentInvariantsEstimation" type="MomentInvariantsEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      MomentInvariantsEstimation estimates the 3 moment invariants (j1, j2, j3) at each 3D point.
+    </description>
+  </class>
+
+  <class name="pcl/NormalEstimationOMP" type="NormalEstimationOMP" base_class_type="nodelet::Nodelet">
+    <description>
+      NormalEstimationOMP estimates local surface properties at each 3D point, such as surface normals and curvatures,
+      in parallel, using the OpenMP standard.
+    </description>
+  </class>
+
+  <class name="pcl/NormalEstimationTBB" type="NormalEstimationTBB" base_class_type="nodelet::Nodelet">
+    <description>
+      NormalEstimationTBB estimates local surface properties at each 3D point, such as surface normals and curvatures, in
+      parallel, using Intel's Threading Building Blocks library.
+    </description>
+  </class>
+
+  <class name="pcl/NormalEstimation" type="NormalEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures.
+    </description>
+  </class>
+
+  <class name="pcl/PFHEstimation" type="PFHEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset containing
+      points and normals.
+    </description>
+  </class>
+
+  <class name="pcl/PrincipalCurvaturesEstimation" type="PrincipalCurvaturesEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of principal surface 
+      curvatures for a given point cloud dataset containing points and normals.
+    </description>
+  </class>
+
+  <class name="pcl/VFHEstimation" type="VFHEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      VFHEstimation estimates the Viewpoint Feature Histogram (VFH) global descriptor for a given point cloud cluster dataset
+      containing points and normals.
+    </description>
+  </class>
+
+</library>

pcl_ros/plugins/nodelet/libpcl_ros_filters.xml

@@ -0,0 +1,43 @@
+<!-- PCL Filters library component -->
+<library path="lib/libpcl_ros_filters">
+  <class name="pcl/PassThrough" type="PassThrough" base_class_type="nodelet::Nodelet">
+    <description>
+      PassThrough is a filter that uses the basic Filter class mechanisms for passing data around.
+    </description>
+  </class>
+
+  <class name="pcl/VoxelGrid" type="VoxelGrid" base_class_type="nodelet::Nodelet">
+    <description>
+      VoxelGrid assembles a local 3D grid over a given PointCloud, and uses that to downsample the data.
+    </description>
+  </class>
+
+  <class name="pcl/ProjectInliers" type="ProjectInliers" base_class_type="nodelet::Nodelet">
+    <description>
+      ProjectInliers uses a model and a set of inlier indices from a PointCloud to project them into a separate PointCloud.
+    </description>
+  </class>
+
+  <class name="pcl/ExtractIndices" type="ExtractIndices" base_class_type="nodelet::Nodelet">
+    <description>
+      ExtractIndices extracts a set of indices from a PointCloud as a separate PointCloud.
+    </description>
+  </class>
+
+  <class name="pcl/StatisticalOutlierRemoval" type="StatisticalOutlierRemoval" base_class_type="nodelet::Nodelet">
+    <description>
+      StatisticalOutlierRemoval uses point neighborhood statistics to filter outlier data.
+    </description>
+  </class>
+  <class name="pcl/RadiusOutlierRemoval" type="RadiusOutlierRemoval" base_class_type="nodelet::Nodelet">
+    <description>
+      RadiusOutlierRemoval uses point neighborhood statistics to filter outlier data.
+    </description>
+  </class>
+
+  <class name="pcl/CropBox" type="CropBox" base_class_type="nodelet::Nodelet">
+    <description>
+      CropBox is a filter that allows the user to filter all the data inside of a given box.
+    </description>
+  </class>
+</library>