How to control kuka in automatic mode by using rsi

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Hi, I am a user who is starting to work with kuka kr16 robot, at this time I am able to connect it basic between robot and ros using kuka_rsi_hw_interface of kuka_experimental package but I still only do T1 mode.

Now I have reached this stage.

rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller

So I want to know how I can control it using other mode while controlling the robot on ros, I want to control it automatic mode which I tried changing the mode myself on control panel kcp but it failed, and I am currently trying to find information to connect it on rviz as well.

P.S. Sorry for disturbing. My question and language might be a bit confusing as I am a foreigner who is not very good at grammar but I would really like to get advice from all of you. Thank you.