Fail to use move group interface of the MoveIt! when connecting gazebo with Moveit!.

After I succeeded to connect the gazebo with Moveit!, I launched the move_group_interface.cpp but the Rviz failed to load the robot model and failed to recognize the Reference frame. As a result, the trajectory and motion of the robot cannot be displayed on the Rviz. The gazebo_moveit.launch file is: The content of the moveit_planning_execution.launch is: [/slave/joint_states] The move_group_interface.launch file is: After launch the gazebo and Moveit! launch file, the error information, with no effect on the system, is listed: ******************************************************** * MoveGroup using: * - ApplyPlanningSceneService * - CartesianPathService * - ExecuteTrajectoryAction * - GetPlanningSceneService * - MoveAction * - PickPlaceAction * - MotionPlanService * - QueryPlannersService * - StateValidationService ******************************************************** [ INFO] [1529585147.859698952, 0.974000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner [ INFO] [1529585147.859710241, 0.974000000]: MoveGroup context initialization complete You can start planning now! **[ERROR] [1529585150.124966293, 3.214000000]: Semantic description is not specified for the same robot as the URDF** [ INFO] [1529585150.125468961, 3.215000000]: Loading robot model 'slave'... [ INFO] [1529585150.125560087, 3.215000000]: No root/virtual joint specified in SRDF. Assuming fixed joint **[ERROR] [1529585150.244122237, 3.333000000]: Semantic description is not specified for the same robot as the URDF** [ INFO] [1529585150.244419062, 3.333000000]: Loading robot model 'slave'... [ INFO] [1529585150.244485995, 3.333000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1529585150.803089224, 3.892000000]: Starting scene monitor [ INFO] [1529585150.805629079, 3.894000000]: Listening to '/planning_scene' [ INFO] [1529585150.850030824, 3.938000000]: Constructing new MoveGroup connection for group 'arm' in namespace '' [ INFO] [1529585151.992825987, 5.059000000]: Ready to take commands for planning group arm. [ INFO] [1529585151.992922608, 5.059000000]: Looking around: no [ INFO] [1529585151.992951078, 5.059000000]: Replanning: no And after launch the move_group_interface.launch, the infromation is listed: **[ERROR] [1529586437.344894935, 1277.554000000]: Semantic description is not specified for the same robot as the URDF** [ INFO] [1529586437.345196231, 1277.554000000]: Loading robot model 'slave'... [ INFO] [1529586437.345293585, 1277.554000000]: No root/virtual joint specified in SRDF. Assuming fixed joint **[ERROR] [1529586437.475137289, 1277.684000000]: Semantic description is not specified for the same robot as the URDF** [ INFO] [1529586437.475333051, 1277.684000000]: Loading robot model 'slave'... [ INFO] [1529586437.475394364, 1277.684000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1529586438.544521612, 1278.733000000]: Ready to take commands for planning group arm. [ INFO] [1529585151.992922608, 5.059000000]: Looking around: no [ INFO] [1529585151.992951078, 5.059000000]: Replanning: no And after launch the move_group_interface.launch, the infromation is listed: **[ERROR] [1529586437.344894935, 1277.554000000]: Semantic description is not specified for the same robot as the URDF** [ INFO] [1529586437.345196231, 1277.554000000]: Loading robot model 'slave'... [ INFO] [1529586437.345293585, 1277.554000000]: No root/virtual joint specified in SRDF. Assuming fixed joint **[ERROR] [1529586437.475137289, 1277.684000000]: Semantic description is not specified for the same robot as the URDF** [ INFO] [1529586437.475333051, 1277.684000000]: Loading robot model 'slave'... [ INFO] [1529586437.475394364, 1277.684000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1529586438.544521612, 1278.733000000]: Ready to take commands for planning group arm. [ INFO] [1529586438.813722018, 1279.002000000]: RemoteControl Ready. **[ INFO] [1529586439.048185756, 1279.232000000]: Reference frame: /world** [ INFO] [1529586439.048214553, 1279.232000000]: End effector link: arm6_Link [ WARN] [1529586444.133075577, 1284.308000000]: Fail: ABORTED: No motion plan found. No execution attempted. [ INFO] [1529586444.133141021, 1284.308000000]: Visualizing plan 1 (pose goal) FAILED [ INFO] [1529586444.133161303, 1284.308000000]: Visualizing plan 1 as trajectory line [ INFO] [1529586444.133244718, 1284.308000000]: No planning scene passed into moveit_visual_tools, creating one. **[ERROR] [1529586444.136977092, 1284.312000000]: Semantic description is not specified for the same robot as the URDF** [ INFO] [1529586444.137093335, 1284.312000000]: Loading robot model 'slave'... [ INFO] [1529586444.137115776, 1284.312000000]: No root/virtual joint specified in SRDF. Assuming fixed joint **[ERROR] [1529586444.229218318, 1284.404000000]: Semantic description is not specified for the same robot as the URDF** [ INFO] [1529586444.229415620, 1284.404000000]: Loading robot model 'slave'... [ INFO] [1529586444.229494272, 1284.404000000]: No root/virtual joint specified in SRDF. Assuming fixed joint [ INFO] [1529586444.825959927, 1284.998000000]: Publishing maintained planning scene on '' Pay attention to the Reference frame.It should be /base_link, not /world.So here is a mistake. And there are other errors as above. Therefore, I don't know how to get the moveit, gazebo and move group together. Wish for your answer and help.