problem with MoveIt + joystick_control.launch

I've created a simple arm and I want to control it using a joystick. Here's my launch file: The error I'm getting is from joystick_control.launch is "[FATAL] Check if you started movegroups. Exiting." Here's the full stack trace: $ roslaunch cougarbot_moveit_config joystick_control.launch [ INFO] [1486692499.658150322]: Loading robot model 'cougarbot'... [ INFO] [1486692499.659144317]: No root/virtual joint specified in SRDF. Assuming fixed joint [ WARN] [1486692499.660517007]: Could not identify parent group for end-effector 'hand' [ INFO] [1486692500.876474349, 182.851000000]: Loading robot model 'cougarbot'... [ INFO] [1486692500.877637693, 182.851000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ WARN] [1486692500.878770531, 182.851000000]: Could not identify parent group for end-effector 'hand' [FATAL] [WallTime: 1486692501.117867] [0.000000] Check if you started movegroups. Exiting. Traceback (most recent call last): File "/opt/ros/indigo/lib/moveit_ros_visualization/moveit_joy.py", line 42, in app = MoveitJoy() File "/opt/ros/indigo/lib/python2.7/dist-packages/moveit_ros_visualization/moveitjoy_module.py", line 381, in __init__ self.updatePlanningGroup(0) File "/opt/ros/indigo/lib/python2.7/dist-packages/moveit_ros_visualization/moveitjoy_module.py", line 405, in updatePlanningGroup raise rospy.ROSInitException(msg) rospy.exceptions.ROSInitException: Check if you started movegroups. Exiting.