controller_plugins.xml

<library path="linear_feedback_controller">

  <class name="linear_feedback_controller/LinearFeedbackController"
         type="linear_feedback_controller::LinearFeedbackControllerRos"
         base_class_type="controller_interface::ChainableControllerInterface">
    <description>
      Linear feedback controller with ROS topic based feedback loop.
    </description>
  </class>

  <class name="linear_feedback_controller/JointStateEstimator"
         type="linear_feedback_controller::JointStateEstimator"
         base_class_type="controller_interface::ControllerInterface">
    <description>
      Forward the joint state into the command potentially filtering some signals.
    </description>
  </class>

  <class name="linear_feedback_controller/PassthroughController"
         type="linear_feedback_controller::PassthroughController"
         base_class_type="controller_interface::ChainableControllerInterface">
    <description>
      Forward the joint state into the command potentially filtering some signals.
    </description>
  </class>

</library>