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The answer is yes you can use IKFast to control your 4DoF robot and usually with Moveit package that supports ROS 2.0 as well. Check these tutorials: However there still work to do as there is a request to help document and port tutorials from ROS 1.0, the concept is similar. Link for the latest: but you will see the specific tutorial IKfast has not been ported yet. There will be a bit of work on your end. My suggestion make sure it works in ROS 1.0, then port it.