I try to write a example to test pilz_planning

planningpipeline::PlanningPipelinePtr planningpipeline( new planningpipeline::PlanningPipeline(robotmodel, nodehandle, "pilzindustrialmotionplanner::CommandPlanner"));

I use this to initialization zhe planningpipeline but when I use it , it show what(): Character [:] at element [30] is not valid in G ~ raph Resource Name [pilzindustrialmotionplanner::Comman ~ dPlanner]. Valid characters are a-z, A-Z, 0-9, / and . /pilztest: /pilz_test died from signal 6

or x [PlanningPipeline::configure]: Multiple planning plugins a                   ~ vailable. You should specify the '~planningplugin' parame                   ~ ter. Using 'chompinterface/CHOMPPlanner' for now.

So, how can I correctly use it ?