How to move robot by position accurately in Rviz and Gazebo

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I have a robot configuration (x, y, z, yaw) from path planning algorithm. Now, I want to move robot from currect position to that position (by straight line). How can I accurately do that?

I know I can calculate velocity and send rostopic in /cmd_vel. But sometimes, the control is bad so that collision happens. Right now, I just need to consider planning algorithm. So, is there any way I can directly let robot follow the path very accurately?

Thanks in advance!