How to execute a trajectory with several paths

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Hi there, So I followed the moveit tutorial Motion planning pipeline on my own robot and the all my goal poses plan in sequence on rviz usingdisplay_publisher.publish(display_trajectory); just fine, now I'm trying to execute this plan on my actual hardware the ame as you would with move() or execute(). I tried several ways but can't seem to get it to work. Also I have an issue where all my points in the generated trajectory have time_from_start = 0 and when I try to add the time manually it still doesn't work. If anyone could shed some light on how to properly execute a trajcetory I would be grateful.