Inverse kinematics on ROS

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Hello,

I'm using ROS to control a hexapod 18dof Robot. I was able to create the urdf model of the robot. But now, to make the robot actually move, I know that I need to generate inverse kinematics of each leg and use it to generate gaits to make the robot move. My question is: what library or ros package is best to use for the kinematics ? I study a litle of ros MoveIt but I was not sure how to start to use it.

Thank you all