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I have a similar issue. I haven't resolved it completly yet, but to put you on track, I basically went though the moveit code to try to understand how the team does it. I have managed to make it work with:
this header:
#include moveit/background_processing/background_processing.h>
declaring the following object in MyPanel class:
moveit::tools::BackgroundProcessing background_process_;
After, I put all the moveit code in a function
void MyPanel::plan(){ /* code*/}
and call the function with:
background_process_.addJob(boost::bind(&MyPanel::plan, this), "plan");
May be necessary to add this to the MyPanel destructor:
background_process_.clear();