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David Lu's arm_kinematics package will automatically create an IK solver for your non-PR2 arm. You do not really need to worry about the inverse kinematics tutorial you linked to because that is only for PR2 arms. Additionally, I believe the "Planning Description Configuration Wizard" setups up David Lu's IK solver for you.

David Lu's arm_kinematics package will automatically create an IK solver for your non-PR2 arm. You do not really need to worry about the inverse kinematics tutorial you linked to because that is only for PR2 arms. Additionally, I believe the "Planning Description Configuration Wizard" ~~setups~~ sets up David Lu's IK solver for you.

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