plugin_description.xml

<library path="lib/librtabmap_ros">
  <class name="rtabmap_ros/MapCloud"
         type="rtabmap_ros::MapCloudDisplay"
         base_class_type="rviz::Display">
    <description>
      Displays graph point clouds from rtabmap_ros/MapData messages.
    </description>
    <message_type>rtabmap_ros/MapData</message_type>
  </class>
  <class name="rtabmap_ros/MapGraph"
         type="rtabmap_ros::MapGraphDisplay"
         base_class_type="rviz::Display">
    <description>
      Displays graphs from rtabmap_ros/MapGraph messages.
    </description>
    <message_type>rtabmap_ros/MapGraph</message_type>
  </class>
  <class name="rtabmap_ros/Info"
         type="rtabmap_ros::InfoDisplay"
         base_class_type="rviz::Display">
    <description>
      Displays information from rtabmap_ros/Info messages.
    </description>
    <message_type>rtabmap_ros/Info</message_type>
  </class>
  <class name="rtabmap_ros/OrbitOriented"
         type="rtabmap_ros::OrbitOrientedViewController"
         base_class_type="rviz::ViewController">
    <description>
      Camera orbit with orientation.
    </description>
  </class>
</library>