Using multiple controller managers

[UltronDestroyer]

Is this possible? For example, I want to use the MoveItSimpleControllerManager to control the UR5 arm. But I've put the PR2 gripper onto it, and so would like to also use the PR2 controller manager.

Is it possible to do this in MoveIt? Afaik there is the one parameter moveit_controller_manager_name that can only be set to one for movegroup. Or can I pull up multiple move groups?

One possible solution: Add a paremeter inside the controllers.yaml config used for moveit called "controller_manager" which will change the moveit_controller_manager_name w.r.t what controller manager is being used at the time.

Originally opened here: https://github.com/ros-planning/moveit_core/issues/237#event-265118019