joint_group_ff_controllers_plugins.xml

<library path="lib/libjoint_group_ff_controllers">

  <class name="joint_group_ff_controllers/JointGroupEffortFFController" type="joint_group_ff_controllers::JointGroupEffortFFController" base_class_type="controller_interface::ControllerBase">
    <description>
      The JointGroupEffortFFController tracks position, velocity and effort commands for a set of joints using a PD-feedforward controller. It expects a EffortJointInterface type of hardware interface.
    </description>
  </class>

  <class name="joint_group_ff_controllers/JointGroupVelocityFFController" type="joint_group_ff_controllers::JointGroupVelocityFFController" base_class_type="controller_interface::ControllerBase">
    <description>
      The JointGroupVelocityFFController tracks position and velocity commands for a set of joints using a P-feedforward controller. It expects a VelocityJointInterface type of hardware interface.
    </description>
  </class>

</library>