<library path="lib/libmsckf_vio_nodelet">
  <class name="msckf_vio/MsckfVioNodelet"
         type="msckf_vio::MsckfVioNodelet"
         base_class_type="nodelet::Nodelet">
    <description>
      Multi-State contraint Kalman filter for vision-
      aided inertial navigation with observability constain.
    </description>
  </class>
</library>

<library path="lib/libimage_processor_nodelet">
  <class name="msckf_vio/ImageProcessorNodelet"
         type="msckf_vio::ImageProcessorNodelet"
         base_class_type="nodelet::Nodelet">
    <description>
      Detect and track features in image sequence.
    </description>
  </class>
</library>