plugin_description.xml

<library path="lib/librviz_plugin_covariance">
  <class name="rviz_plugin_covariance/PoseWithCovariance"
         type="rviz_plugin_covariance::PoseWithCovarianceDisplay"
         base_class_type="rviz::Display">
    <description>
      Display geometry_msgs/PoseWithCovarianceStamped.
    </description>
    <message_type>geometry_msgs/PoseWithCovarianceStamped</message_type>
  </class>

  <class name="rviz_plugin_covariance/OdometryWithCovariance"
         type="rviz_plugin_covariance::OdometryDisplay"
         base_class_type="rviz::Display">
    <description>
      Display nav_msgs/Odometry.
    </description>
    <message_type>nav_msgs/Odometry</message_type>
  </class>
</library>