crisp_controllers/crisp_controllers.xml at main · learnsyslab/crisp_controllers · GitHub

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<library path="crisp_controllers">
    <class name="crisp_controllers/CartesianController"
           type="crisp_controllers::CartesianController" base_class_type="controller_interface::ControllerInterface">
        <description>
            Control the 3D pose of the end-effector using impedance control or OSC with pinocchio model.
        </description>
    </class>
    <class name="crisp_controllers/CartesianAdmittanceController"
           type="crisp_controllers::CartesianAdmittanceController" base_class_type="controller_interface::ControllerInterface">
        <description>
            Cartesian admittance controller with impedance outer loop for compliant force-based interaction.
        </description>
    </class>
    <class name="crisp_controllers/PoseBroadcaster"
           type="crisp_controllers::PoseBroadcaster" base_class_type="controller_interface::ControllerInterface">
        <description>
            Simple broadcaster for the pose.
        </description>
    </class>
    <class name="crisp_controllers/TorqueFeedbackController"
           type="crisp_controllers::TorqueFeedbackController" base_class_type="controller_interface::ControllerInterface">
        <description>
            Torque feedback controller for robotic manipulators that responds to external torques with PD control and friction compensation.
        </description>
    </class>
    <class name="crisp_controllers/TwistBroadcaster"
           type="crisp_controllers::TwistBroadcaster" base_class_type="controller_interface::ControllerInterface">
        <description>
            Simple broadcaster for the twist velocity.
        </description>
    </class>
</library>