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You can't use any ros_control based solution as tmr_ros1 is not ros_control based.

It uses a regular stand-alone node which exposes the FollowJointTrajectoryAction server.

You'll have to investigate whether there is any possibility of sending position or velocity commands to tm_driver in any other way. Without being able to stream position or velocity setpoints, I'm not sure you can use moveit_servo in a meaningful way.

You can't use any ros_control based solution as tmr_ros1 is not ros_control based.

It uses a regular stand-alone node which exposes the FollowJointTrajectoryAction server.

You'll have to investigate whether there is any possibility of sending position or velocity commands to tm_driver in any other way. Without being able to stream position or velocity setpoints, I'm not sure you can use moveit_servo in a meaningful way.

Can anyone point me toward a direction to use the controller manager with a real robot instead of using Moveit's basic manager Trajectory execution is managing controllers All of this aim to change my controller to joint_group_position_controller.

You can't use any ros_control based solution as tmr_ros1 is not ros_control based.

It uses a regular stand-alone node which exposes the FollowJointTrajectoryAction server.

You'll have to investigate whether there is any possibility of sending position or velocity commands to tm_driver in any other way. Without being able to stream position or velocity setpoints, I'm not sure you can use moveit_servo in a meaningful way.