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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();