Hello everyone,
Currently i am working on my teleportation project using interbotix rx200 as slave and geomagic touch haptic controller as master,
Using ros2 humble and ubuntu lts version
Please guide me 
i am bit new to this,
From my controller i am getting pose estimate xyzw of stylus
I want to use it to manipulate the arm arm has moveit2 for inverse kinematics guide me where i put or use this value for my task.