MoveIt stop command usage

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Hello,

I want to stop a UR5 while it is executing a movement. Now, I have three different scripts. One which sends information like coordinates and variables. One which makes the UR5 execute a movement and the third script should stop the robot. My question is now, how can I stop the robot. I found a command which should stop it. I've read on some forum that it should work with some delay.

void moveit::planning_interface::MoveGroup::stop (void)

So my question basically is: How do I implement this void in my code in such a way that I can make the UR5 stop. This is what I currently have.

#include <iostream>
#include <ros/ros.h>
#include <moveit/move_group_interface/move_group.h>
#include <sstream>
#include <ur5_inf3480/Coor.h>

class StopRobot {
public:
    int a;
    int counter;
    void stop(void);
    void PublishCoordinatesCallback(const ur5_inf3480::Coor msg);
};

void StopRobot::PublishCoordinatesCallback(const ur5_inf3480::Coor msg) {
    a = msg.a;
    counter = msg.counter;
}

void StopRobot::stop(void) {
    moveit::planning_interface::MoveGroup::stop();
  }

int main(int argc, char **argv) {
    ros::init(argc, argv, "coordinates");
    ros::NodeHandle nh;
    ros::Rate loop_rate(30);
    StopRobot sr;
    ros::Subscriber sub = nh.subscribe<ur5_inf3480::Coor>("coordinates", 1000, &StopRobot::PublishCoordinatesCallback, &sr);
    int a = sr.a;
    int counter = sr.counter;
    while (ros::ok()) {
        a = sr.a;
        loop_rate.sleep();
        ros::spinOnce();
        if (a == 0) {
            sr.stop();
        }
    }
return 0;
}

When I catkin_make the code like this it gives the following error.

/home/lauran/ur5robot_ws/src/ur5_inf3480/src/stop_robot.cpp: In member function ‘void StopRobot::stop()’:
/home/lauran/ur5robot_ws/src/ur5_inf3480/src/stop_robot.cpp:22:46: error: cannot call member function ‘void moveit::planning_interface::MoveGroup::stop()’ without object
  moveit::planning_interface::MoveGroup::stop();

I have tried to do different sorts of code but every code gives another error. So I'm a bit stuck now on how the usage of this certain command is. Could someone please help me on this.

Thank you.