This package offers a cartesian interface for a kinematical chain on Care-O-bot. E.g. for the 7 DOF arms (Schunk LWA and Kuka LBR), but also for the 4 DOF torso. The interface works for real hardware as well as for simulation. To bringup a Care-O-bot see cob_bringup.
For starting the ik solver
roslaunch cob_manipulator kdl_solver.launch