arm navigation without any filter! [closed]

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Hi, I have to run arm navigation for a katana 450 6m180, First i tried Katana_arm_navigation stack but its modified for diamondpack version and i faced lots of problem for porting it to ROS electric, Now i just want to find a way to give a goal to arm and it goes to that goal and i don't need any specific filter for example arm_kinematics_constraint_aware! i reviewed this tutorial and i think its appropriate for my goal! so which packages i have to use for having a very simple arm navigation for my Arm ?