controller_plugins.xml

<library path="ur_controllers">
  <class name="ur_controllers/SpeedScalingStateBroadcaster" type="ur_controllers::SpeedScalingStateBroadcaster" base_class_type="controller_interface::ControllerInterface">
    <description>
      This controller publishes the readings of all available speed scaling factors.
    </description>
  </class>
  <class name="ur_controllers/ScaledJointTrajectoryController" type="ur_controllers::ScaledJointTrajectoryController" base_class_type="controller_interface::ControllerInterface">
    <description>
      Scaled position-based joint trajectory controller.
    </description>
  </class>
  <class name="ur_controllers/GPIOController" type="ur_controllers::GPIOController" base_class_type="controller_interface::ControllerInterface">
    <description>
      This controller publishes the Tool IO.
    </description>
  </class>
  <class name="ur_controllers/ForceModeController" type="ur_controllers::ForceModeController" base_class_type="controller_interface::ControllerInterface">
    <description>
      Controller to use UR's force_mode.
    </description>
  </class>
  <class name="ur_controllers/FreedriveModeController" type="ur_controllers::FreedriveModeController" base_class_type="controller_interface::ControllerInterface">
    <description>
      This controller handles the activation of the freedrive mode.
    </description>
  </class>
  <class name="ur_controllers/PassthroughTrajectoryController" type="ur_controllers::PassthroughTrajectoryController" base_class_type="controller_interface::ControllerInterface">
    <description>
      This controller forwards a joint-based trajectory to the robot controller for interpolation.
    </description>
  </class>
  <class name="ur_controllers/URConfigurationController" type="ur_controllers::URConfigurationController" base_class_type="controller_interface::ControllerInterface">
    <description>
      Controller used to get and change the configuration of the robot
    </description>
  </class>
</library>