four_wheel_steering_controller_plugin.xml

<library path="four_wheel_steering_controller">
    <class name="four_wheel_steering_controller/FourWheelSteeringController" type="four_wheel_steering_controller::FourWheelSteeringController" base_class_type="controller_interface::ControllerInterface">
        <description>The four wheel steering controller applies a total speed and front/rear steering angle commands to a 4WD motor base with independently steered axes.</description>
    </class>
</library>