ros2_control_hardware.xml

<library path="inverted_pendulum_control">
  <class name="inverted_pendulum_control/InvertedPendulumSystemHardware"
         type="inverted_pendulum_control::InvertedPendulumSystemHardware"
         base_class_type="hardware_interface::SystemInterface">
    <description>
      The ros2_control InvertedPendulum using a system hardware interface-type. It uses velocity command and position state interface. The example is the starting point to implement a hardware interface for differential-drive mobile robots.
    </description>
  </class>
</library>