How can I use motion planning pipeline for a real robot?

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Hi,all I'm a freshman in ROS. I used Move Group to plan trajectories for my abb robot. LIke:

moveit::planning_interface::MoveGroupInterface::Plan my_plan; move_group.plan(my_plan) ;

But my robot need a shorter path. So I want to use motion planning pipeline. The tutorials of motion planning pipeline is used with rviz.

planning_pipeline->generatePlan(planning_scene, req, res);

How can I use it for my robot ? I tried :

plan.trajectory = res.trajectory; plan.start_state_=res.start_state

It can't find a plan. Can anyone help me? Thanks advance.