ur_test_controllers.xml

<library path="lib/libur_test_controllers">

  <class name="ur_test_controllers/NullVelController" type="ur_test_controllers::NullVelController" base_class_type="controller_interface::ControllerBase">
    <description>
      Null velocity controller.
    </description>
  </class>

  <class name="ur_test_controllers/NullVelPidController" type="ur_test_controllers::NullVelPidController" base_class_type="controller_interface::ControllerBase">
    <description>
      Null velocity controller, regulated by a PID.
    </description>
  </class>

  <class name="ur_test_controllers/PositionSinusoidController" type="ur_test_controllers::PositionSinusoidController" base_class_type="controller_interface::ControllerBase">
    <description>
      Null velocity controller, regulated by a PID.
    </description>
  </class>

  <class name="ur_test_controllers/VelocitySinusoidController" type="ur_test_controllers::VelocitySinusoidController" base_class_type="controller_interface::ControllerBase">
    <description>
      Null velocity controller, regulated by a PID.
    </description>
  </class>

</library>