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Hello HannesIII,
MoveIt! is a good package to use for these kinds of problems. To tell MoveIt! to plan and execute paths, you can talk to it using either the move_group_interface (C++) or the moveit_commander (python). It's probably a good idea to look at the MoveIt! Tutorials to get a feel for what MoveIt! can do and how it works.
As for a structure of your project: You will want to launch a completely configured move_group for the UR10 (available in the universal_robot package) and you can then run a separate node (either C++ or Python) that interfaces with it. The tutorials will help you with figuring out what to write in your node.
Good luck.
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