compliant_ros_control_plugins.xml

<library path="lib/libcompliant_ros_controller">

  <class name="position_controllers/CompliantController"
         type="position_controllers::CompliantController"
         base_class_type="controller_interface::ControllerBase">
    <description>
    </description>
  </class>

  <class name="velocity_controllers/CompliantController"
         type="velocity_controllers::CompliantController"
         base_class_type="controller_interface::ControllerBase">
    <description>
    </description>
  </class>

  <class name="effort_controllers/CompliantController"
         type="effort_controllers::CompliantController"
         base_class_type="controller_interface::ControllerBase">
    <description>
    </description>
  </class>

</library>