gary_controller/gary_controller.xml at main · GMasterEmbeddedGroup/gary_controller · GitHub

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<library path="gary_controller">

    <class name="gary_controller/HardwareMonitor"
           type="gary_controller::HardwareMonitor"
           base_class_type="controller_interface::ControllerInterface">
        <description>
            monitor hardware status
        </description>
    </class>

    <class name="gary_controller/PIDController"
           type="gary_controller::PIDController"
           base_class_type="controller_interface::ControllerInterface">
        <description>
            PID controller
        </description>
    </class>

    <class name="gary_controller/PIDControllerWithFilter"
           type="gary_controller::PIDControllerWithFilter"
           base_class_type="controller_interface::ControllerInterface">
        <description>
            PID controller with filter
        </description>
    </class>

    <class name="gary_controller/DualLoopPIDController"
           type="gary_controller::DualLoopPIDController"
           base_class_type="controller_interface::ControllerInterface">
        <description>
            dual loop PID controller
        </description>
    </class>

    <class name="gary_controller/DualLoopPIDControllerWithFilter"
           type="gary_controller::DualLoopPIDControllerWithFilter"
           base_class_type="controller_interface::ControllerInterface">
        <description>
            dual loop PID controller with filter
        </description>
    </class>

    <class name="gary_controller/CalibrationController"
           type="gary_controller::CalibrationController"
           base_class_type="controller_interface::ControllerInterface">
        <description>
            motor calibration controller
        </description>
    </class>

</library>