AICA controllers are ros2 control plugins
Controller descriptions are similar to component descriptions in terms of inputs, outputs and parameters. Refer to the relevant documentation in the component descriptions folder for a starting point.
The plugin property is similar to the registration property of a component, and defines the unique name under
which the controller plugin class is registered.
The inheritance property is similar to components, but simplified in this schema to just reference the parent class
by plugin name rather than allowing nested references.
The control_type property defines which joint command interface the controller will claim. If the control type is
omitted from a given controller description, the controller is assumed to claim no command interfaces.