Hi, Is is possible to use another controller from ros2control for MoveIt2 path execution? The documentation (https://moveit.picknik.ai/humble/doc/examples/controllerconfiguration/controllerconfigurationtutorial.html) states this:

"MoveIt typically publishes manipulator motion commands to a JointTrajectoryController."

The use of the word "typically" implies there are other options. But is it possible to use the other controllers in ros2_control?

Thanks!