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Implementing a cartesian controller for teleoperation

Hi, I plan to implement a cartesian controller for controlling 7 dof arm via some haptic device. I found JT cartesian controller in pr2_mechanisms package that could be utilized for this purpose. But since ros_control is a rewrite of pr2 packages I was wondering if there is such package in ros control which could be utilized for this purpose. Is there something in moveit that could be utilized or I have to implement all from scratch using KDL.