<library path="franka_example_controllers">
    <class name="franka_example_controllers/GravityCompensationExampleController"
           type="franka_example_controllers::GravityCompensationExampleController" base_class_type="controller_interface::ControllerInterface">
        <description>
            The gravity compensation controller only sends zero torques so that the robot does gravity compensation
        </description>
    </class>
    <class name="franka_example_controllers/JointImpedanceExampleController"
           type="franka_example_controllers::JointImpedanceExampleController" base_class_type="controller_interface::ControllerInterface">
        <description>
            The joint impedance example controller moves joint 4 and 5 in a very compliant periodic movement.
        </description>
    </class>
    <class name="franka_example_controllers/MoveToStartExampleController"
           type="franka_example_controllers::MoveToStartExampleController" base_class_type="controller_interface::ControllerInterface">
        <description>
            The move to start example controller moves the robot into default pose.
        </description>
    </class>
    <class name="franka_example_controllers/ModelExampleController"
           type="franka_example_controllers::ModelExampleController" base_class_type="controller_interface::ControllerInterface">
        <description>
            The franka model example controller evaluates and prints the dynamic model of Franka Emika Robots.
        </description>
    </class>
</library>