realtime control manipulator in ros

I have a 6 DOF manipulator URDF, I can use the compute_ik service to have solution for a specified pose then I publish in Rviz but I see that if I use set_joint_value_target or set_pose_target it very slow. Is there other way to do that faster than set_joint_value_target and set_pose_target. Assuming that I have a node subscribe to a node that give me the pose that manipulator have to reach. Thanks in advance