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You need to create a URDF description of your robot, with links and joints for any moving or fixed relationships between the various reference frames. Then you should launch robot_state_publisher and joint_state_publisher to supply frame transformations as requested. In particular, you should configure joint_state_publisher to listen for the topics on which you will publish the joint states.

Presumably you'll either write a custom node or use a package like moveit to calculate and publish the required joint angles.

To actually perform the joint movements, you'll need a custom node that listens for the joint states and talks to your hardware, unless there is an appropriate package already available.

You should probably read these:

• URDF tutorials: read the tf tutorial and then 2.1, 2.2, 2.4, and 4.5.
• robot_state_publisher documentation
• joint_state_publisher documentation