panda_robot_controllers_plugin.xml

<library path="lib/libpanda_robot_controllers">
  <class name="panda_robot_controllers/CartesianVelocityExampleController" type="panda_robot_controllers::CartesianVelocityExampleController" base_class_type="controller_interface::ControllerBase">
    <description>
      A controller that executes a short motion based on cartesian velocities to demonstrate correct usage
    </description>
  </class>
  
</library>