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If you already know where you are going -- and are not interested in any of the collision avoidance and other planning features of MoveIt -- I would not use MoveIt, but just host an IK plugin in your own node. Then use that together with an inverse Jacobian or similiar approach to arrive at new joint space targets every cycle. Then send that to your driver.
If you have a ros_control
based driver, or one that implements trajectory replacement correctly, you could even use that.