Hi,
I have used the setup assistant of MoveIt to create the config package and it worked fine. But when I launched the demo.launch file, I got the following error :
...
auto-starting new master
process[master]: started with pid [43949]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to eb76e8ea-711b-11e6-8339-480fcf447f3c
process[rosout-1]: started with pid [43963]
started core service [/rosout]
process[joint_state_publisher-2]: started with pid [43980]
process[robot_state_publisher-3]: started with pid [43981]
ERROR: cannot launch node of type [moveit_ros_move_group/move_group]: can't locate node [move_group] in package
[moveit_ros_move_group]
process[rviz_ipt_d_0342_43937_3307353756922455826-5]: started with pid [43982]
[ WARN] [1472827541.765044325]: The root link base_link has an inertia specified in the URDF, but KDL does not
support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
The URDF works perfectly fine with RViZ and Joint State Publisher GUI sliders (without MoveIt) and after a while I get the interactive markers in RViZ (with MoveIt) and I am able to move the arm around but it says 'No Planning Library Loaded'. Also system dependencies seem to be satisfied. I'm unable to find out what the exact issue is.
**EDIT** :
I did binary installation of the MoveIt for Jade. I used [this](http://moveit.ros.org/install/) link to install MoveIt. Then I launched the setup assistant and created the config package following [this](https://www.youtube.com/watch?v=asg-thB3mwA) video.
Here are the screenshots of RViz and Terminal after launching demo.launch :
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