I believe there are a couple of semi-standard ROS tools you can look into to generate your kinematics/IK data, my knowledge might be slightly dated as to what the most cutting edge is though.
The last time I did something similar we used the IKFast package that is based on OpenRave to generate the solvers: http://docs.ros.org/hydro/api/moveit_ikfast/html/doc/ikfast_tutorial.html
But I think this has been combined into the streamlined MoveIt package now: http://docs.ros.org/kinetic/api/moveit_tutorials/html/
that has a nice setup assistant and lots of the older packages for joint teleoperation with a real robot and manipulation based task stuff.
Actually looks like there is a newer/better IK solver: http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/trac_ik_tutorial.html
That should hopefully point you in the right direction, we don't currently install MoveIT in the deployed platform because I don't think anyone has required it, but it's super powerful for manipulation based stuff. Let me know if that helps.