ros2_impedance_controller/ros2_impedance_controller.xml at master · qleonardolp/ros2_impedance_controller · GitHub

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<class_libraries>
  <library path="ros2_impedance_controller">
    <class name="ros2_impedance_controller/CartesianController"
          type="ros2_impedance_controller::CartesianController"
          base_class_type="controller_interface::ControllerInterface">
    <description>
      Robot impedance controller designed with the ros2_controllers framework and Pinocchio.
    </description>
    </class>
    <class name="ros2_impedance_controller/BasicCartesianController"
          type="ros2_impedance_controller::BasicCartesianController"
          base_class_type="controller_interface::ControllerInterface">
    <description>
      Basic Cartesian controller with only gravity compensation and PD impedance.
    </description>
    </class>
  </library>

  <library path="mpcic_controller">
    <class name="ros2_impedance_controller/MPCIController"
          type="ros2_impedance_controller::MPCIController"
          base_class_type="controller_interface::ControllerInterface">
    <description>
      Model Predictive Cartesian Impedance Control (MPCIC),
      with taskspace dynamics cost function.
    </description>
    </class>
  </library>
</class_libraries>