control_filters.xml

<class_libraries>
    <library path="low_pass_filter">
      <class name="control_filters/LowPassFilterDouble"
             type="control_filters::LowPassFilter&lt;double&gt;"
             base_class_type="filters::FilterBase&lt;double&gt;">
        <description>
          This is a low pass filter working with a double value.
        </description>
      </class>
      <class name="control_filters/LowPassFilterWrench"
             type="control_filters::LowPassFilter&lt;geometry_msgs::msg::WrenchStamped&gt;"
             base_class_type="filters::FilterBase&lt;geometry_msgs::msg::WrenchStamped&gt;">
        <description>
            This is a low pass filter working with geometry_msgs::WrenchStamped.
        </description>
      </class>
    </library>
    <library path="rate_limiter">
      <class name="control_filters/RateLimiterDouble"
             type="control_filters::RateLimiter&lt;double&gt;"
             base_class_type="filters::FilterBase&lt;double&gt;">
        <description>
          This is a rate limiter working with a double value.
        </description>
      </class>
    </library>
</class_libraries>