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You need to be on Noetic or later, or build MoveIt from source to use multiple planning pipelines in Melodic or earlier. You already did this (since it works in Rviz), I just want to state it for the record.
You need to use not only setPlannerId (LIN, PTP, CIRC) but also setPlanningPipelineId (pilz_industrial_motion_planner).

If you find that a part of the tutorial is insufficient or an error message is not clear enough, please feel free to submit a pull request to improve it.

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