anchor.diff:  ----
   
   How to create and install the plugin meta-informations on your system is
  -described in the plugins section. TODO reference
  +described in the <<Plugins>> section.
   
   ==== Framework connection
   
  
positive.code: relies on the http://wiki.ros.org/class_loader[class_loader] library. To gather and provide meta
  informations about all available plug-ins the plugin_manager library is used.
  
  For more details see the chapter on plugin design.
  
  ==== Providing a user-data plug-in
  
  
negative.code: g.clearFrame(frame);
  ----
  
  
  ==== Adding Transformations
  [source,c++]
  