Create a subscriber in Move Group Python Interface to keep getting desired poses to plan and execute

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My purpose: In the Move Group Python Interface section in the Moveit it tutorials(kinetic version), it shows we can plan a motion for a move group to a desired pose for the end-effector and excute it as shown is the snippet of code below: pose_goal = geometry_msgs.msg.Pose() pose_goal.orientation.w = 1.0 pose_goal.position.x = 0.4 pose_goal.position.y = 0.1 pose_goal.position.z = 0.4 group.set_pose_target(pose_goal)

In this example code available on moveit site, however, we can only plan one pose (instead of a number of successive poses which can form a smooth line) at a time. So I've got an idea that I could augmented this piece of code with a subscriber which listens to a ROS sensor sending poses to move group in this code then plan and execute those desired pose. Ideally, in this way, I can perform a smooth trajectory with all the poses together.

My first question is whether what I am planning to do feasible and practical?

If so, I've got some other questions while working on it. I am using a leap motion sensor as a publisher (publishing hand positions) in the ROS structure. As I said I would build a subscriber in the Move Group Python Interface code to keep receiving new poses then plan and execute in time. To get the job done: First,I created a package named leap_moveit with the following depedencies: catkin_create_pkg leap_moveit rospy rospack moveit_commander moveit_msgs geometry_msgs

Secondly,I put the modified Move Group Python Interface code(the main difference is there is a subscriber to obtain new desired poses in this code). The subscriber is: leap_sub = rospy.Subscriber('leapmotion/data', leapros, go_to_joint_state)

Thirdly,I updated CMakeLists.txt and package.xml accordingly and created a launch file in the launch directory of my leap_moveit pkg.

Finally, when I run roslaunch leap_moveit leapmoveit.launch to try out the code, I throws the following errors. Can anyone help?

mario@mario:~$ roslaunch leap_moveit leapmoveit.launch
... logging to /home/mario/.ros/log/fa712ea8-1ab7-11e9-a98a-94c6911255ab/roslaunch-mario-30026.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
WARNING: disk usage in log directory [/home/mario/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://localhost:32869/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14

NODES
  /
    leapmoveit_node (leap_moveit/move_group_python_interface_leap.py)

auto-starting new master
process[master]: started with pid [30043]
    ROS_MASTER_URI=http://localhost:11311

setting /run_id to fa712ea8-1ab7-11e9-a98a-94c6911255ab
process[rosout-1]: started with pid [30063]
started core service [/rosout]
process[leapmoveit_node-2]: started with pid [30069]
Failed to import pyassimp, see https://github.com/ros-planning/moveit/issues/86 for more info
[ERROR] [1547771310.996982652]: Robot model parameter not found! Did you remap 'robot_description'?
Traceback (most recent call last):
      File "/home/mario/catkin_ws/src/leap_moveit/src/move_

group_python_interface_leap.py", line 223, in <module>
    main()
  File "/home/mario/catkin_ws/src/leap_moveit/src/move_group_python_interface_leap.py", line 202, in main
    tutorial = MoveGroupPythonIntefaceTutorial()
  File "/home/mario/catkin_ws/src/leap_moveit/src/move_group_python_interface_leap ...