panda_ik_controllers_plugin.xml

<library path="lib/libhiro_panda_ik_controllers">
  <class name="hiro_panda_ik/PandaPoseController" type="hiro_panda::PandaPoseController" base_class_type="controller_interface::ControllerBase">
    <description>
      A controller that implements TRACIK to calculate the desired joint position of the Panda from Cartesian Pose, 
      and smoothly moves from one joint configuration to another via three options.
    </description>
  </class>
</library>