I am trying to learn the way to control a robot, I want to start off with trying to control a single joint first. I have a simple urdf model with 2 links and a joint . I want to load it on gazebo simulator. I want to know if I can control it using the PR2controlmanager.

Is the controller useable only on the PR2 model ? I have read that it can used on PR2 like models . What does that mean? MY eventual goal is to design a controller for a humanoid robot, which is similar to the Atlas robot. for which I am starting with the designing of a controller for a single joint.