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_controller_base</name>
 5    <version>0.0.0</version>
 6    <description>The cartesian_controller_base package</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  
15    <build_depend>ros_environment</build_depend>
16  
17    <depend>rclcpp</depend>
18    <depend>controller_interface</depend>
19    <depend>kdl_parser</depend>
20    <depend>trajectory_msgs</depend>
21    <depend>pluginlib</depend>
22    <depend>realtime_tools</depend>
23  
24    <export>
25      <build_type>ament_cmake</build_type>
26      <cartesian_controller_base plugin="${prefix}/ik_solver_plugin.xml"/>
27    </export>
28  </package>