Hi Chris,
I was able to replace the UR5 robot in the ROSMED tutorials for the Franka-Emika Panda robot,
what you need to do first is to setup your robot in moveit, many robots models are available for motion planning in move it, the one i used was luckily one of them, but if you are using one not available, they provide guidance on how to configure it,
then you need to copy the igtl exporter py file from the ROSMED tutorial package, to your robot catkin_ws package (you can also create your own script), you need to modify this file according to your specific robot link names, if you want to visualize your robot in slicer you can import the robot stl model and assign the transforms that are communicated to slicer via this igtl_exporter python script, you apply this transforms directly to the individual robot links accordingly, if you dont have the stl model you can also visualize the transforms in slicer wich provide insight of the robot links positon+orientation
once this is covered you can visualize in slicer, robot trajectories planed with moveit, this is the stage of where im currently at in my project, still need to work on the segmentation, needle path planning, dont hesitate to ask if you have further questions