franka_interactive_controllers_plugin.xml

<library path="lib/libfranka_interactive_controllers">
  <class name="franka_interactive_controllers/JointGravityCompensationController" type="franka_interactive_controllers::JointGravityCompensationController" base_class_type="controller_interface::ControllerBase">
    <description>
      A controller that send 0 torques to the robot + coriolis + external tool compensation + nullspace tracking if desired. Nullspace stiffness can be modified onlive via dynamic reconfigure and external tool compensation forces should be defined in .yaml file in ./config folder.
    </description>
  </class>
  <class name="franka_interactive_controllers/CartesianPoseImpedanceController" type="franka_interactive_controllers::CartesianPoseImpedanceController" base_class_type="controller_interface::ControllerBase">
    <description>
      A controller that renders a spring damper system in cartesian space. Compliance parameters with the dynamic reconfigure and the desired/equilibrium pose can be modified online via an interactive marker or by publishing a geometry_msg Pose to "/cartesian_impedance_controller/desired_pose".
    </description>
  </class>
  <class name="franka_interactive_controllers/CartesianTwistImpedanceController" type="franka_interactive_controllers::CartesianTwistImpedanceController" base_class_type="controller_interface::ControllerBase">
    <description>
      A controller that renders a spring damper system in cartesian space. Gain parameters with the dynamic reconfigure and the desired twist can be modified by publishing a geometry_msg Twist to "/cartesian_impedance_controller/desired_twist".
    </description>
  </class>
  <class name="franka_interactive_controllers/PassiveDSImpedanceController" type="franka_interactive_controllers::PassiveDSImpedanceController" base_class_type="controller_interface::ControllerBase">
    <description>
      A controller that renders a spring damper system in cartesian space. Gain parameters with the dynamic reconfigure and the desired twist can be modified by publishing a geometry_msg Twist to "/cartesian_impedance_controller/desired_twist".
    </description>
  </class>

  <class name="franka_interactive_controllers/JointPositionFrankaController" type="franka_interactive_controllers::JointPositionFrankaController" base_class_type="controller_interface::ControllerBase">
    <description>
      CHANGE: A controller that executes a short motion based on joint positions to demonstrate correct usage
    </description>
  </class>
  <class name="franka_interactive_controllers/JointVelocityFrankaController" type="franka_interactive_controllers::JointVelocityFrankaController" base_class_type="controller_interface::ControllerBase">
    <description>
      CHANGE: A controller that executes a short motion based on joint velocities to demonstrate correct usage
    </description>
  </class>
  <class name="franka_interactive_controllers/JointImpedanceFrankaController" type="franka_interactive_controllers::JointImpedanceFrankaController" base_class_type="controller_interface::ControllerBase">
    <description>
     CHANGE: A controller that tracks a cartesian path with a joint impedance controller that compensates coriolis torques. The torque commands are compared to measured torques in Console outputs.
    </description>
  </class>
  <class name="franka_interactive_controllers/CartesianPoseFrankaController" type="franka_interactive_controllers::CartesianPoseFrankaController" base_class_type="controller_interface::ControllerBase">
    <description>
      CHANGE: A controller that executes a short motion based on cartesian poses to demonstrate correct usage
    </description>
  </class>
  <class name="franka_interactive_controllers/CartesianVelocityFrankaController" type="franka_interactive_controllers::CartesianVelocityFrankaController" base_class_type="controller_interface::ControllerBase">
    <description>
      CHANGE:A controller that executes a short motion based on cartesian velocities to demonstrate correct usage
    </description>
  </class>
  <class name="franka_interactive_controllers/CartesianForceController" type="franka_interactive_controllers::CartesianForceController" base_class_type="controller_interface::ControllerBase">
    <description>
      CHANGE: A PI controller that applies a force corresponding to a user-provided desired mass in the z axis. The desired mass value can be modified online with dynamic reconfigure.
    </description>
  </class>
</library>