Hello,

I' have created a custom controller based in positioncontrollers/JointTrajectoryController interface. So far, I use SimpleActionClient to send a trajectory and it works in gazebo. My next move would be to somehow integrate RVIZ and use my controllers for path planning.

I did the moveit tutorials and I have seen in the demo.launch that I can use ros_control as the controller manager. But I dont understand quite well how to link my controller with the RVIZ move group. Any help?

I would like to have an overview about all this before I start editing files (as RVIZ assistant creates lots of files which I dont know for what they are used for)

this is my yaml file:

rrbot:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  joint1_position_controller:
    type: position_controllers/JointPositionController
    joint: joint1
    pid: {p: 100.0, i: 0.01, d: 10.0}

  joint2_position_controller:
    type: position_controllers/JointPositionController
    joint: joint2
    pid: {p: 100.0, i: 0.01, d: 10.0}


  #joint trayectory
  arm_position_controller:
    type: position_controllers/JointTrajectoryController
    joints: 
      - joint1
      - joint2