bicycle_steering_controller.xml

<library path="bicycle_steering_controller">
  <class name="bicycle_steering_controller/BicycleSteeringController"
         type="bicycle_steering_controller::BicycleSteeringController" base_class_type="controller_interface::ChainableControllerInterface">
  <description>
    Steering controller for Bicycle kinematics with one traction and one steering joint.
  </description>
  </class>
</library>