Thank you for help! I’ll see if I get time to pick it up.
After a deep dive into the controller manager I realised how they are getting loaded up. I have created a demo for that which I’ll be publishing on github today. (Nothing Official though, just for reference for people who are stuck on its implementation)
yes, please add it into ros2_control_demos. But make sure that we are using the standard controller from ros2_controllers repository there – so that we are sure that the code will be up-to-date in the future, and it is easy to use for everybody.