wb_state_publisher.xml

<library path="libwb_state_publisher">
	<class name="wb_state_publisher/WholeBodyStatePublisherController"
		   type="wb_state_publisher::WholeBodyStatePublisherController"
		   base_class_type="controller_interface::ControllerBase">
		<description>
			The whole-body state publisher is ros controller that publishes the actual
			whole-body state of the	robot as a dwl_msgs/WholeBodyState message. It
			expects a ros_control::JointStateInterface.
		</description>
	</class>

</library>