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lwr_controllers_plugins.xml
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<library path="lib/liblwr_controllers">
<class name="arm_state_controller/ArmStateController" type="arm_state_controller::ArmStateController" base_class_type="controller_interface::ControllerBase">
<description>
Information about external torque, Jacobian, etc.
</description>
</class>
<class name="lwr_controllers/CartesianImpedanceController" type="lwr_controllers::CartesianImpedanceController" base_class_type="controller_interface::ControllerBase">
<description>
This replicates the Cartesian impedance control of the LWR 4+, but it uses JOINT_EFFORT mode to send the computed torque. Note that, this won't work generally in any robot, since the dynamic term should be added (f_dyn(q, qdot, qdotdot)).
</description>
</class>
<class name="lwr_controllers/GravityCompensation" type="lwr_controllers::GravityCompensation" base_class_type="controller_interface::ControllerBase">
<description>
Safe gravity compensation.
</description>
</class>
<class name="lwr_controllers/JointImpedanceController" type="lwr_controllers::JointImpedanceController" base_class_type="controller_interface::ControllerBase">
<description>
The JointImpedanceController tracks effort commands. It expects a EffortJointInterface type of hardware interface.
</description>
</class>
<class name="lwr_controllers/InverseDynamicsController" type="lwr_controllers::InverseDynamicsController" base_class_type="controller_interface::ControllerBase">
<description>
The InverseDynamicsController compensates for inertial, gravitational, and coriolis effects on a robot.
</description>
</class>
<class name="lwr_controllers/ComputedTorqueController" type="lwr_controllers::ComputedTorqueController" base_class_type="controller_interface::ControllerBase">
<description>
Info...
</description>
</class>
<class name="lwr_controllers/OneTaskInverseKinematics" type="lwr_controllers::OneTaskInverseKinematics" base_class_type="controller_interface::ControllerBase">
<description>
Info...
</description>
</class>
<class name="lwr_controllers/MultiTaskPriorityInverseKinematics" type="lwr_controllers::MultiTaskPriorityInverseKinematics" base_class_type="controller_interface::ControllerBase">
<description>
Info...
</description>
</class>
<class name="lwr_controllers/MultiTaskPriorityInverseDynamics" type="lwr_controllers::MultiTaskPriorityInverseDynamics" base_class_type="controller_interface::ControllerBase">
<description>
Info...
</description>
</class>
<class name="lwr_controllers/OneTaskInverseDynamicsJL" type="lwr_controllers::OneTaskInverseDynamicsJL" base_class_type="controller_interface::ControllerBase">
<description>
Info...
</description>
</class>
<class name="lwr_controllers/MinimumEffortInverseDynamics" type="lwr_controllers::MinimumEffortInverseDynamics" base_class_type="controller_interface::ControllerBase">
<description>
Info...
</description>
</class>
<class name="lwr_controllers/BacksteppingController" type="lwr_controllers::BacksteppingController" base_class_type="controller_interface::ControllerBase">
<description>
Info...
</description>
</class>
<class name="lwr_controllers/DynamicSlidingModeController" type="lwr_controllers::DynamicSlidingModeController" base_class_type="controller_interface::ControllerBase">
<description>
Info...
</description>
</class>
<class name="lwr_controllers/DynamicSlidingModeControllerTaskSpace" type="lwr_controllers::DynamicSlidingModeControllerTaskSpace" base_class_type="controller_interface::ControllerBase">
<description>
Info...
</description>
</class>
</library>