Hi, all,

I'm trying to make use of the robotmechanismcontroller for the schunk powercube manipulator, because I see it has pretty good functionality like spline controller and velocity controller. What I have is the ROS node of the driver of the manipulator schunkpowercubechain, subscribing to the velocity command. I also have set up the motion planner and followjointtrajectory action interface using the planning description configuration wizard. I want to make some functionalities like trajectory following and find out that the robotmechanismcontroller has a lot of attractive features. But I didn't find out any tutorials about how to use this package. Could anyone me any hint how to use that package? Thanks a lot.