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I managed to create a workaround for this problem. While running moveit demo.launch file, I found in rqt graph that, /move_group goal can both publish to and subscribe from the move group node. I created a publisher which publishes to /move_group/goal and a subscriber which subscribed to /move_group/display_planned_path. After that I used these waypoints to move the hector quadrotor using the hector quadrotor's controller.

P.N - the joint space won't be updated, so you won't be able to see the quadrotor move in rviz, but it works fine in gazebo