I am trying to control the robot with MoveIt, using a custom workcell to include my Robotiq HandE gripper, based on the custom workcell tutorial at Universal_Robots_ROS2_Tutorials/my_robot_cell at fc5f0f6c4043861d429e5f57e7ff857c1421dd71 · UniversalRobots/Universal_Robots_ROS2_Tutorials · GitHub
I believe I have changed everything I should to reflect my workcell/robot configuration, and the robot launches correctly, but MoveIt does not: I get this error
ros2 launch ceeorobot_moveit_config moveit_rviz.launch.py
[INFO] [launch]: All log files can be found below /home/kat/.ros/log/2025-07-10-17-26-32-537229-ur3e-hub-88551
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rviz2-1]: process started with pid [88552]
[rviz2-1] [INFO] [1752182792.841855256] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] [INFO] [1752182792.841904026] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-1] [INFO] [1752182792.881007019] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-1] Warning: class_loader.impl: SEVERE WARNING!!! A namespace collision has occurred with plugin factory for class rviz_default_plugins::displays::InteractiveMarkerDisplay. New factory will OVERWRITE existing one. This situation occurs when libraries containing plugins are directly linked against an executable (the one running right now generating this message). Please separate plugins out into their own library or just don't link against the library and use either class_loader::ClassLoader/MultiLibraryClassLoader to open.
[rviz2-1] at line 253 in /opt/ros/humble/include/class_loader/class_loader/class_loader_core.hpp
[rviz2-1] [ERROR] [1752182795.941189320] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1752182795.955007905] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] [ERROR] [1752182806.057985786] [rviz]: Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds.
[rviz2-1] Error: Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0
[rviz2-1] at line 732 in ./src/model.cpp
[rviz2-1] [ERROR] [1752182806.061852596] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF
[rviz2-1] [ERROR] [1752182806.069799591] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Robot model not loaded
[rviz2-1] [ERROR] [1752182808.475395547] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1752182808.489403753] [moveit_ros_visualization.motion_planning_frame]: MoveGroup namespace changed: / -> . Reloading params.
[rviz2-1] Error: Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0
[rviz2-1] at line 732 in ./src/model.cpp
[rviz2-1] [ERROR] [1752182818.583768553] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF
[rviz2-1] [ERROR] [1752182818.606485051] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Robot model not loaded
What am I missing such that the SRDF does not get loaded?