I have successfully setup using JointPositionController to control a single motor. However, I would like to use jointtrajectorycontroller so that I can send a set of joints at once. I was able to see the connection between link, transmission and joint handles clearly here. Does anybody have any simple example to share?

Note: I'm not sure if this can be helpful in my case: http://docs.ros.org/jade/api/joint_trajectory_controller/html/c++/classHardwareInterfaceAdapter_3_01hardware__interface_1_1PositionJointInterface_00_01State_01_4.html