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I am working with a 6DOF arm. For pretty much everything you need to know about moveit, see this tutorial: http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/move_group_interface_tutorial.html

After you plan a trajectory to a given goal, moveit will publish waypoints, accelerations and velocities on the topic /execute_trajectory/goal using a message of type moveit_msgs::ExecuteTrajectoryActionGoal

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