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plugin.xml
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plugin.xml
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<library path="lib/libfranka_interface">
<class name="franka_interface/VelocityInterface"
type="franka_interface::VelocityInterface"
base_class_type="controller_interface::ControllerBase">
<description>
A controller that executes a short motion based on joint velocities
to demonstrate correct usage
</description>
</class>
<class name="franka_interface/CartesianPoseInterface"
type="franka_interface::CartesianPoseInterface"
base_class_type="controller_interface::ControllerBase">
<description>
Cartesion pose interface
</description>
</class>
<class name="franka_interface/CartesianVelInterface"
type="franka_interface::CartesianVelInterface"
base_class_type="controller_interface::ControllerBase">
<description>
Cartesion velocity interface
</description>
</class>
</library>