How to use ros_control_boilerplate with custom robot

[jcgarciaca]

It is not an issue but a doubt.
I am trying to use ros_control and hardware_interface to control a custom robot and run into ros_control_boilerplate, but I have a couple of doubts about how to use it.

1. I created my robot package through moveit setup assistant, but I don't know what is required for generated demo.launch to be able to communicate with ros_control_boilerplate.

2. I customized ros_control_boilerplate for my robot, but when running myrobot_hardware.launch the controller manager process starts and then finishes as mentioned here. But I am not sure why it happens.

3. Since motors in my robot are commanded through two services with angle as parameter, then do I have to call them inside write function? If so, where is every joint position available? And, feedback position is available as topic data. So, where should this data be stored in read function?

Thank you