grap a detected object

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hello, i am kinda new in here and i try to learn a lot about ros, i try to build a project that is a robotic arm (bcn3d moveo) who tries to grap a detected object via tensorflow and kinect camera , i already got to complete my robot arm with ros thanks from this source https://github.com/jesseweisberg/move... and the detectet object with this source https://github.com/douglasrizzo/dodo_... .So i try to find a way how i can find a path to grap those object when they are detected.My first think was i can code a algorthm who has both tf ,1 from the gripper and 1 from the detected object but maybe it exist a easiest way with moveit.Can you help me if u have a similar experience before. i use ubuntu 16.04 x86_64 , ros kinetic