serl_franka_controllers_plugin.xml

<library path="lib/libserl_franka_controllers">
  <class name="serl_franka_controllers/JointPositionController" type="serl_franka_controllers::JointPositionController" base_class_type="controller_interface::ControllerBase">
    <description>
      A controller that executes a short motion based on joint positions to demonstrate correct usage
    </description>
  </class>
  <class name="serl_franka_controllers/CartesianImpedanceController" type="serl_franka_controllers::CartesianImpedanceController" base_class_type="controller_interface::ControllerBase">
    <description>
      A controller that renders a spring damper system in cartesian space. Compliance parameters and the equilibrium pose can be modified online with dynamic reconfigure and an interactive marker respectively.
    </description>
  </class>
</library>