I am trying to configure a controller for my own robot as suggested [here](https://answers.ros.org/question/310295/how-to-feedback-joint-positions-to-moveit/), with using `ros_controller` and `hardware_interface`, but related documentation is not totally clear for me, then I run into [ros_control_boilerplate](https://github.com/PickNikRobotics/ros_control_boilerplate) template and tried to adapt it to my robot.
Such that I have a couple of doubts about it.
1. [read / write](https://github.com/jcgarciaca/robotic_arm_mbpo/blob/9f66209686f26429643c05a0e39170bf6dacb542/ros_control_boilerplate/robotic_arm_mbpo_control/src/robotic_arm_mbpo_hw_interface.cpp) functions should include the code to command the motors and receive corresponding feedback from encoder. Then:
a) Since motors in my robot are commanded through two services with angle as parameter, then do I just have to call them inside write function? If so, where is every joint position available?
b) Current feedback position is available as topic data. So, where should this data be stored?
2. I run `demo.launch` file created by setup assistant. But I am not sure how to communicate it with `ros_control`.
a) Running [demo.launch](https://github.com/jcgarciaca/robotic_arm_mbpo/blob/master/robotic_arm_mbpo_moveit_config/launch/demo.launch) and then [robotic_arm_mbpo_hardware.launch](https://github.com/jcgarciaca/robotic_arm_mbpo/blob/master/ros_control_boilerplate/robotic_arm_mbpo_control/launch/robotic_arm_mbpo_hardware.launch), it shows:
> `
> process[robotic_arm_mbpo/robotic_arm_mbpo_hardware_interface-1]:
> started with pid [5110]
> process[robotic_arm_mbpo/ros_control_controller_manager-2]:
> started with pid [5114]
> process[robotic_arm_mbpo/robot_state_publisher-3]:
> started with pid [5117] [ INFO]
> [1545080133.382974836]: Waiting for
> model URDF on the ROS param server at
> location:
> //robotic_arm_mbpo/robot_description [
> INFO] [1545080133.491500360]:
> RoboticArmMBPOHWInterface Ready. [
> INFO] [1545080133.493281977]:
> GenericHWInterface Ready. Loaded
> joint_state_controller Loaded
> position_trajectory_controller Started
> ['joint_state_controller']
> successfully Started
> ['position_trajectory_controller']
> successfully
> [robotic_arm_mbpo/ros_control_controller_manager-2]
> process has finished cleanly`
b) If I set `fake_execution` to `false` in [launch file](https://github.com/jcgarciaca/robotic_arm_mbpo/blob/master/robotic_arm_mbpo_moveit_config/launch/demo.launch#L41) an action client error appears: `Action client not connected: /follow_joint_trajectory`.
What should I do here?
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