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planned by RViz

I assume you mean MoveIt? RViz is a visualization tool, MoveIt can do motion planning. MoveIt acts as the client in an action specified in your controllers.yaml and a .action file and sends requests to an action server which you create. For your arm, you want to use a JointTrajectoryAction and for the gripper move_group you can use the GripperCommand message found in control_msgs. Your server listens for these action requests, executes them and sends feedback to MoveIt. The implementation depends on your setup and controllers.

Take a look at existing examples to figure out how to make one on your own. I learned a lot from the joint_trajectory_action_controller.py from the dynamixel_motor package which I used for my arm, while I made a custom server for the gripper which instead of writing to the servos directly, publishes to /command topics. If you prefer C++, way more documentation is available online.

By

planned by RViz

I assume you mean MoveIt? RViz is a visualization tool, MoveIt can do motion planning. MoveIt acts as the client in an action specified in your controllers.yaml and a .action file and sends requests to an action server which you create. For your arm, you want to use a JointTrajectoryAction and for the gripper move_group you can use the GripperCommand message found in control_msgs. Your server listens for these action requests, executes them and sends feedback to MoveIt. The implementation depends on your setup and controllers.controllers. You can generate smooth trajectories by implementing cubic or quintic trajectories.

Take a look at existing examples to figure out how to make one on your own. I learned a lot from the joint_trajectory_action_controller.py from the dynamixel_motor package which I used for my arm, while I made a custom server for the gripper which instead of writing to the servos directly, publishes to /command topics. If you prefer C++, way more documentation is available online.