<library path="wp_map_plugins">
  <class name="wp_map_tools/AddWaypointTool"
         type="wp_map_tools::AddWaypointTool"
         base_class_type="rviz_common::Tool">
    <description>
      Tool for adding waypoints on the ground plane in rviz.
    </description>
  </class>
</library>