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I want to control robot by hand. Basically I want to control it in realtime .Is there any way to do that with ROS? like I use joystick analog to move arm and robot execute it

OK, as I thought.

Using a complete MoveIt plan cycle is not going to work in that case.

You could take a look at jog_arm which was recently integrated into the moveit_experimental repository. The wiki page hasn't been updated yet, but the version in ros-planning/moveit/moveit_experimental/jog_arm should do what you're after.

Note: it's not jerk-limited, so if your robot requires that, it probably won't work / need additional filtering.