We have a new tutorial on controlling the manipulator (OpenManipulator-X) integrated with a robot (ROSbot XL) using a gamepad or MotionPlanning Rviz plugin. You can run the tutorial on a physical robot or in the simulation:
Two key components of this setup are ros2_control and MoveIt 2.
ros2_control is used for controlling Dynamixel servos (you can find the code in this repository). It provides a position command interface, with position and velocity feedback, which can be combined with the JointTrajectoryController to execute planned motions.
MoveIt 2 is responsible for preparing motion plans, based on the desired end effector position. It can be controlled in RViz by simply dragging the marker, with a gamepad using servo mode or through the ROS 2 API. The code for MoveIt 2 integration is in the rosbot_xl_manipulation_ros repository.
Hope you enjoy it, let us know if you have any comments or questions!