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