trajectory execution with a button to control!

[ChenLong-Cristian]

Now I have a problem with the trajectory execution．I have already realized my robot obstacle avoidance movement. When I execute the MovegroupPtr->move(), and the robot can execute the task. But my question is how can I use a button to control the execution of the planned trajectory. When I press the button, the robot moves, but when I release the button, the robot stops until it reaches the target.
Thanks a lot!