Unable to connect to move_group action server 'move_group' within allotted time (5s)

[mf093087]

I use a python script to control the iiwa robot. However, when I run the python code, I receive this error.

#!/usr/bin/env python

-- coding: utf-8 --

import rospy, sys
import moveit_commander
from moveit_commander import MoveGroupCommander
from geometry_msgs.msg import Pose
from copy import deepcopy

class MoveItCartesianDemo:
def init(self):

    moveit_commander.roscpp_initialize(sys.argv)


    rospy.init_node('moveit_cartesian_demo', anonymous=True)


    arm = MoveGroupCommander('manipulator')


    arm.allow_replanning(True)


    arm.set_pose_reference_frame('iiwa_link_0')


    arm.set_goal_position_tolerance(0.001)
    arm.set_goal_orientation_tolerance(0.001)


    arm.set_max_acceleration_scaling_factor(0.5)
    arm.set_max_velocity_scaling_factor(0.5)


    end_effector_link = arm.get_end_effector_link()


    start_pose = arm.get_current_pose(end_effector_link).pose


    waypoints = []



    waypoints.append(start_pose)


    wpose = deepcopy(start_pose)
    wpose.position.z -= 0.2
    waypoints.append(deepcopy(wpose))

    wpose.position.x += 0.1
    waypoints.append(deepcopy(wpose))

    wpose.position.y += 0.075
    waypoints.append(deepcopy(wpose))

    wpose.position.y -= 0.075
    waypoints.append(deepcopy(wpose))

    wpose.position.x -= 0.1
    waypoints.append(deepcopy(wpose))

    wpose.position.x += 0.05
    wpose.position.y += 0.075
    waypoints.append(deepcopy(wpose))

    wpose.position.y -= 0.15
    waypoints.append(deepcopy(wpose))

    wpose.position.x -= 0.05
    wpose.position.y += 0.075
    waypoints.append(deepcopy(wpose))

    wpose.position.x -= 0.03
    wpose.position.y -= 0.075
    waypoints.append(deepcopy(wpose))

    fraction = 0.0  
    maxtries = 100 
    attempts = 0 


    arm.set_start_state_to_current_state()

   
    while fraction < 1.0 and attempts < maxtries:
        (plan, fraction) = arm.compute_cartesian_path(
            waypoints, 
            0.01,  
            0.0,  
            True)  


    attempts += 1


    if attempts % 10 == 0:
        rospy.loginfo("Still trying after " + str(attempts) + " attempts...")


    if fraction == 1.0:
        rospy.loginfo("Path computed successfully. Moving the arm.")
        arm.execute(plan)
        rospy.loginfo("Path execution complete.")

    else:
        rospy.loginfo(
            "Path planning failed with only " + str(fraction) + " success after " + str(maxtries) + " attempts.")

        rospy.sleep(1)


    moveit_commander.roscpp_shutdown()
    moveit_commander.os._exit(0)

if name == "main":
try:
MoveItCartesianDemo()
except rospy.ROSInterruptException:
pass