<class_libraries>

  <library path="lib/libringcolors_nodelet">
    <class name="velodyne_pointcloud/RingColorsNodelet"
           type="velodyne_pointcloud::RingColorsNodelet"
           base_class_type="nodelet::Nodelet">
      <description>
        Converts a Velodyne PointCloud2 to PointXYZRGB, assigning colors
        for visualization of the laser rings.
      </description>
    </class>
  </library>

  <library path="lib/libtransform_nodelet">
    <class name="velodyne_pointcloud/TransformNodelet"
           type="velodyne_pointcloud::TransformNodelet"
           base_class_type="nodelet::Nodelet">
      <description>
        Transforms packets into /map frame, publishing multiple packets
        as PointCloud2.
      </description>
    </class>
  </library>

</class_libraries>