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I've found a basic solution!

To do that, I'm just trying to do something simple by following this thread's progress.

And yes I got the problem that when I press execute the plan the real robot doesn't move.

But it can tell a real robot to move according to your execute the plan on rviz if you don't open rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller or turn on but do not press the start button of the controller manager.