roslaunch stuck on 'Loading robot model'

Hi all. I'm trying to run a moveit path that I have planned out with the following launch file: However, on launch ROS seems to hang up at this step: `[ INFO] [1428960470.895442847]: Loading robot model 'planar_2d'...` And if I kill it with ctrl+C: `terminate called after throwing an instance of 'std::runtime_error' what(): Unable to connect to move_group action server within allotted time (2)` I'm at a loss as to what can be causing this. The paths to my urdf and srdf are correct, and I am passing the param the contents of the file with cat, not just the path. If anyone has any ideas it would be greatly appreciated. Thanks.