gen3_compliant_controllers_plugins.xml

<library path="lib/libgen3_compliant_controllers">
  <class name="gen3_compliant_controllers/JointSpaceCompliantController"
         type="gen3_compliant_controllers::JointSpaceCompliantController"
         base_class_type="controller_interface::ControllerBase">
    <description>
      Joint Space Compliant Controller
    </description>
  </class>
  <class name="gen3_compliant_controllers/TaskSpaceCompliantController"
         type="gen3_compliant_controllers::TaskSpaceCompliantController"
         base_class_type="controller_interface::ControllerBase">
    <description>
      Task Space Compliant Controller
    </description>
  </class>
  
</library>