tiago_arm_effort_controller_plugins.xml

<library path="lib/libtiago_arm_effort_controller">

  <class name="force_control/MyTiagoController" type="force_control::MyTiagoController" base_class_type="controller_interface::ControllerBase">
    <description>
      Gravity compensation controller implemented in the tutorial.
    </description>
  </class>

</library>