How to communicate between ROS and ABB ROS server

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I'm new to ROS, and working on a project that gets the coordinates of certain points using camera, converting them to real coordinates and send the 3-D coordinates to the robot. I'm done with the image processing part and write this program within ROS-Kinect platform with two nodes. Also I installed the ROS-ABB server on my windows pc to work with the robot Yumi. My question is how to send these coordinates from the ROS node to the running ROS server so that the robot arm can move to these coordinates.

Thank you in advance.