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You might want to have a look at question 316808 and read through the MoveIt tutorials.

A planning solution cannot be described by a JointState message, they simply contain very different types of information. The JointState message described the state of a robots joint at a single point in time, whereas a JointTrajectory message describes the movement of a set of robot joints through a period of time.

You can do everything you want using the MoveIt API, you don't need to publish or subscribe to messages directly from your code to command the arm.