lwr_force_position_controllers_plugins.xml

<library path="lib/liblwr_force_position_controllers">

  <class name="lwr_force_position_controllers/FtSensorCalibController" type="lwr_controllers::FtSensorCalibController" base_class_type="controller_interface::ControllerBase">
    <description>
      Force Torque sensor calibration controller
    </description>
  </class>

  <class name="lwr_force_position_controllers/CartesianPositionController" type="lwr_controllers::CartesianPositionController" base_class_type="controller_interface::ControllerBase">
    <description>
      Implement a cartesian position controller using inverse joint dynamics and inverse kinematics
    </description>
  </class>

  <class name="lwr_force_position_controllers/CartesianInverseDynamicsController" type="lwr_controllers::CartesianInverseDynamicsController" base_class_type="controller_interface::ControllerBase">
    <description>
      Implement an inverse dynamics controller in operational space (the update() method is not implemented and should be implemented by inheriting
      controllers that need dynamics inversion in operational space).
    </description>
  </class>

  <class name="lwr_force_position_controllers/HybridImpedanceController" type="lwr_controllers::HybridImpedanceController" base_class_type="controller_interface::ControllerBase">
    <description>
      Implement a hybrid impedance controller using the abstract controller CartesianInverseDynamicsController
    </description>
  </class>

</library>