How to use ControllerManager? (from ros_control)

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Hi all,

I am looking for an example of how to use controller_manager::ControllerManager. I have read a tutorial on implementing one's own hardware interface (see here) and there is a few lines of code (including a main function) related to my problem. But unfortunately I do not understand where this main function should lie (is it into a specific node?). I am not too sure either how it should articulate with the controller_manager spawner node instantiated in the launch file.

I have checked several repos (like D. Coleman's baxter, and the husky ros files...) but could not find any code relevant to me.

Is there any example somewhere showing me how to use the ControllerManager in c++?

--- EDIT --- To put it another way here it shows a main() implementing the logic of the robot read/write and controllers update. But who starts the app corresponding to the main? Is this a node? And external app? Something else?

Thanks,

Antoine.