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In ros2_control you add it to the config file. If you look at this config file, you can see that the forward_position_controller and position_trajectory_controller are parameters for the controller_manager. Then you simply need to add the type of the controller.

As for how the controller_manager knows what to control. I'm pretty sure that's done by this function and the one below.

The first one returns the states, the second one the commands. I'm pretty sure that the controller_manager calls them.

Finally you need to add something like this to your URDF.