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Look at the ROS Scan and Plane application from ROS-Industrial. you can use the Descartes planner for that.

Here is a link to the ROS-Industrial training examples. I just took the training and I made a UR-5 Arm follow a complex trajectory. Getting the robot to move in a circle will be very easy to do. You need to feed the Descartes planner a list of trajectory points for your circle and it will take care of the rest.

Review Session 4 and then do Application Demo - Descartes Planning and Execution

that will get you want you need.