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You should use ControllerManager class which provides this services. Other then that, if you want to use ros_control framework you probably need to implement your RobotHW Class (usually implements also ControllerManager). You can use FakeJoint implementation to fake the hardware. This is often used with MoveIt for off-line testing without simulation, i.e., with very rudimentary "simulation".

Let me know if you need additional information.