Example File to Control the Robot Joint Position?

[Yitian-Xian]

Hi, I am using this package for simulation. I am wondering if there is any example file to control the position of robot? I modified my file for ur5 control but found the velocity of each joint on iiwa 7 would not be zero after reach the target, so the robot in rviz would be shaking (strangely, it did not shake in gazebo). I am using the topic "/iiwa/PositionJointInterface_trajectory_controller/command". Does anyone have idea on how to control? Thanks!