rviz_plugins.xml

<library path="libSlamToolboxPlugin">
    <class name="slam_toolbox::SlamToolboxPlugin"
           type="slam_toolbox::SlamToolboxPlugin"
           base_class_type="rviz::Panel">
        <description>
            Panel to assist in Mapping and SLAM with the slam_toolbox
        </description>
    </class>
</library>