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A Grasp can be passed on to the PickupAction, serviced by the object_manipulator. You can see an example of calling that action here:

http://www.ros.org/wiki/pr2_tabletop_manipulation_apps/Tutorials/Writing%20a%20Simple%20Pick%20and%20Place%20Application

Note that, unlike the example, you will be populating the desired_grasps field of the PickupGoal with your computed grasp.

Another example can be found in the pr2_interactive_manipulation package, in the file that Adam mentioned above.

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