Those were provided by a second set of plugins which were created last year but not distributed with the main WPILib update. I haven't seen any documentation for them this year, so I assume they've been considered deprecated in favor of RobotBuilder to manage the subsystems and commands. The plugins haven't been updated with the new RobotBuilder templates, so they may not work properly this year.
If you still want to try, switch to the "Advanced Device Development" perspective, then go to Help->Install New Software. Add
http://first.wpi.edu/FRC/c/eclipse/update/ as an update site, and install the plugins that show.
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