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Hey Felix_N,
my first guess is a problem with your control flow.
The plan function calls the ROS action provided by the move_group
node and waits for the result.
See here.
If you are already in a callback and don't have an additional ROS spinner, the action client will never receive the message it is waiting for.
Try to create (and start) a ros::AsyncSpinner
in your main scope before ros::spin()
.