how to get my robot arm move with moveit pkg?

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If you have already created the support package for your robot, using the MoveIt! Setup Assistant, you should be able of moving your robot manually through the Motion Planning plugin of MoveIt!.

Once you know your robot is moving in the right way, you could program more complex trajectories from your nodes.

For example, at the beginning you can use move_group for something like this:

 pose = Eigen::Translation3d(0.50, 0.30, 0.70)
            * Eigen::Quaterniond(0, 0, 0, 0);
    group.setPoseTarget(pose);

    // check to see if plan successful
    if (!group.plan(plan))
    {
        ROS_FATAL("Unable to create motion plan.  Aborting.");
        exit(-1);
    }

    // do non-blocking move request
    group.move();

Ater that, you can use this tutorial: http://docs.ros.org/indigo/api/pr2_mo...