panda_controllers_plugin.xml

<library path="lib/libpanda_controllers">
  
  <class name="panda_controllers/ComputedTorque" type="panda_controllers::ComputedTorque" base_class_type="controller_interface::ControllerBase">
   <description>
      Computed Torque controller.
   </description>
  </class>
  
   <class name="panda_controllers/CartesianImpedanceControllerSoftbots" type="panda_controllers::CartesianImpedanceControllerSoftbots" base_class_type="controller_interface::ControllerBase">
   <description>
      Variable impedance controller.
   </description>
  </class>

  <class name="panda_controllers/MyReadOnlyController" type="panda_controllers::MyReadOnlyController" base_class_type="controller_interface::ControllerBase">
   <description>
      Utils Controllers for retrieving stuffs from franka state.
   </description>
  </class>




</library>