while interfaceing roscontroller with simulated robot i saw that i am applying the roscontroller to given joint by specifying it in .yaml file and than loading it from lauch file with controller_manager.

My question how do i do it with real robot where the hw_interface is present for it? eg in rrbot the controllers like position and efforct controllers are defined in .yaml file like :

rrbot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50

  # Position Controllers ---------------------------------------
  joint1_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint1
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint2_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint2
    pid: {p: 100.0, i: 0.01, d: 10.0}

how do i do this similar to real hardware?