It's been my understanding that-- while Rosa Parks was an activist for the NAACP and the Civil Rights movement had decided not to make Claudette Colvin or Mary Louise Smith the face of their cause-- Parks had no intention of becoming the face of the civil rights movement by refusing to move to the back of the bus. Especially when you learn about Colvin and Smith, it's easy to see how Parks' case was used strategically, but I'm having a hard time believing that it was truly a set up.
To answer your question, kind of. The act itself, Rosa Parks sitting in the front of the bus was a prepared for event, set up by the local chapter of the NAACP under President E.D. Nixon and defended by attorney Fred Gray (who also defended Claudette Colvin's case) . In other words, this is something they had been waiting for but not explicitly set up. This was not the first time someone had resisted segregated seating, as you pointed out. But the event itself, Rosa Parks, refusing to give up her seat on December 1, 1955, by order of driver James F. Blake, was purely happenstance. No one knew the exact date or time it would happen.
Two books that lay out the event in great detail are Rosa Parks' Autobiography and David Garrow's Bearing the Cross: Martin Luther King, Jr., and the Southern Christian Leadership Conference
As a sidenote, if you read it on AskReddit, its probably not true.