7 Dof Robot Arm for Gazebo Simulation
catkin_make
roslaunch arm_hand arm_hand_empty_world.launch
publish Sensor_msgs/Jointstates name "/joint_command" to control position of 7 joints
If you have a xbox360 joy, like this 
then launch
roslaunch visual_servo_test joy_control.launch
There test.cpp provide a node to publish TF transform from Target Frame to End Effector(link7), the servo_contorl_node listen to the transform, and move when a active command send by joy.
rosrun visual_servo_test test_node