1  <?xml version="1.0"?>
 2  <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 3  <package format="3">
 4    <name>cartesian_compliance_controller</name>
 5    <version>0.0.0</version>
 6    <description>Control your robot through Cartesian target poses and target wrenches</description>
 7    <maintainer email="scherzin@fzi.de">scherzin</maintainer>
 8    <license>BSD-3-Clause</license>
 9    <url type="repository">https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers</url>
10    <author email="scherzin@fzi.de">Stefan Scherzinger</author>
11  
12    <buildtool_depend>ament_cmake</buildtool_depend>
13  
14    <depend>hardware_interface</depend>
15    <depend>pluginlib</depend>
16    <depend>rclcpp</depend>
17    <depend>cartesian_controller_base</depend>
18    <depend>cartesian_motion_controller</depend>
19    <depend>cartesian_force_controller</depend>
20    <depend>controller_interface</depend>
21  
22    <test_depend>ament_lint_common</test_depend>
23  
24    <export>
25      <build_type>ament_cmake</build_type>
26      <controller_interface plugin="${prefix}/cartesian_compliance_controller_plugin.xml"/>
27    </export>
28  </package>