how to control with moveit

[Ginga-Kennis]

Hi. Thank you for such a great work. I have successfully managed to control my gripper through [CommandRobotiqGripper.action].
However, it would be great if I can control it through [FollowJointTrajectory.action] using moveit.
I am having a hard time trying to figure how to control it through moveit. (I tried moveit_setup_assistant)

Can you give me instructions on how to setup moveit?? @Danfoa