panda_controllers/controller_plugins.xml at main · roboticsleeds/panda_controllers · GitHub

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<library path="lib/libpanda_controllers">
    <class name="panda_controllers/InverseDynamicsController"
           type="panda_controllers::InverseDynamicsController"
           base_class_type="controller_interface::ControllerBase">
        <description>
            Inverse Dynamics Controller for Franka Panda
        </description>
    </class>
    <class name="panda_controllers/TorquePDController"
           type="panda_controllers::TorquePDController"
           base_class_type="controller_interface::ControllerBase">
        <description>
            Torque PD controller for Franka Panda
        </description>
    </class>
    <class name="panda_controllers/QPController"
           type="panda_controllers::QPController"
           base_class_type="controller_interface::ControllerBase">
        <description>
            Torque PD controller for Franka Panda
        </description>
    </class>
</library>