The joint assigned for showing the working of this controller is r_should_pan_joint of the robot PR2. After creating the YAML file, we can create a launch file inside the launch folder, which can load the controller configuration file and run the controller. The launch file is called my_controller.launch, which is given as follows:

<launch>
   <rosparam file="$(find my_controller_pkg)/my_controller.yaml" command="load" />


<!--We can use spawner tool to start running the custom controller -->
   <node pkg="pr2_controller_manager" type="spawner" args="my_controller_name" name="my_controller_spawner" />
</launch>