test_controllers_plugin.xml
<library path="lib/libcontroller_manager_tests">
<class name="controller_manager_tests/EffortTestController" type="controller_manager_tests::EffortTestController" base_class_type="controller_interface::ControllerBase">
<description>
The effort test controller expects a JointEffortCommandInterface type of hardware interface.
</description>
</class>
<class name="controller_manager_tests/MyDummyController" type="controller_manager_tests::MyDummyController" base_class_type="controller_interface::ControllerBase">
<description>
This is a stub controller that uses an interface that likely no-one will support
</description>
</class>
</library>