fill /topic geomtery_msgs::PoseStamped in move_group c++?

edit

Hello,

I am getting object POSE w.r.t to robot base_link using vision node in /poseCam topic. this topic is publishing message like this,

.......
poseCamPub_ = nh.advertise<geometry_msgs::PoseStamped>("poseCam", 1);
......
    geometry_msgs::PoseStamped poseMsg;
                              poseMsg.header.stamp = msg->header.stamp;
                              poseMsg.header.frame_id = objectFrameId;
                              tf::poseTFToMsg(pose, poseMsg.pose);
                          poseCamPub_.publish(poseMsg);

now , I want to use this topic with move_group interface. so, move_group receive this POSE message once and robot endeffector will go to that position. is this a correct way to use topic message information with move_group? or am I missing something? I am getting message from that topic, but code is giving no error.

int main(int argc, char** argv)
{
  ros::init(argc, argv, "m");
  ros::NodeHandle node_handle;
  ros::AsyncSpinner spinner(1);
  spinner.start();

  geometry_msgs::PoseStampedConstPtr msg = ros::topic::waitForMessage<geometry_msgs::PoseStamped>("/poseCam");

  geometry_msgs::PoseStamped pose_msg;

  pose_msg.header.stamp = msg->header.stamp;
  pose_msg.pose.position.x = msg->pose.position.x;
  pose_msg.pose.position.y = msg->pose.position.y;
  pose_msg.pose.position.z = msg->pose.position.z;
  pose_msg.pose.orientation.x = msg->pose.orientation.x;
  pose_msg.pose.orientation.y = msg->pose.orientation.y;
  pose_msg.pose.orientation.z = msg->pose.orientation.z;
  pose_msg.pose.orientation.w = msg->pose.orientation.w;

  static const std::string PLANNING_GROUP = "arm";

  // The :move_group_interface:`MoveGroup` class can be easily
  // setup using just the name of the planning group you would like to control and plan for.
  moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);

  // We will use the :planning_scene_interface:`PlanningSceneInterface`
  // class to add and remove collision objects in our "virtual world" scene
  moveit::planning_interface::PlanningSceneInterface planning_scene_interface;

  // Raw pointers are frequently used to refer to the planning group for improved performance.
  const robot_state::JointModelGroup* joint_model_group = move_group.getCurrentState()->getJointModelGroup(PLANNING_GROUP);

  moveit::core::RobotStatePtr current_state = move_group.getCurrentState();


  moveit::planning_interface::MoveGroupInterface::Plan my_plan;



// Planning to a Pose goal

  move_group.setPoseTarget(pose_msg);

  move_group.setMaxVelocityScalingFactor(0.1);

  move_group.execute(my_plan);

  ros::shutdown();
  return 0;
}

Thanks.