Example standalone launch files for launching this node and other required nodes can be found in the pr2_arm_navigation_actions package. The tutorials for this package also provide an example of how to run the controller for the right arm of the PR2 robot.
Trajectory filter configuration
This controller uses a filtering node to filter joint trajectories if necessary. The configuration of the filter server is explained in detail in its API documentation.
Planning environment configuration
The planning environment ROS API documentation specifies how to configure the ROS API for the planning environment.