Hi,all I'm a freshman in ROS. I used Move Group to plan trajectories for my abb robot. LIke:

moveit::planninginterface::MoveGroupInterface::Plan myplan; movegroup.plan(myplan) ;

But my robot need a shorter path. So I want to use motion planning pipeline. The tutorials of motion planning pipeline is used with rviz.

planningpipeline->generatePlan(planningscene, req, res);

How can I use it for my robot ? I tried :

plan.trajectory = res.trajectory; plan.startstate=res.start_state

It can't find a plan. Can anyone help me? Thanks advance.