How to use the robot_mechanism_controller for manipulator other than PR2 [closed]

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Hi, all,

I'm trying to make use of the robot_mechanism_controller 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 schunk_powercube_chain, subscribing to the velocity command. I also have set up the motion planner and follow_joint_trajectory action interface using the planning description configuration wizard. I want to make some functionalities like trajectory following and find out that the robot_mechanism_controller 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.