[ERROR] [1531810061.515737171]: Missing parameter '/topp_moveit_demo/joint_model_group'.

[lakshmip001]

Hi,
I am trying to implement moveit_topp on UR5 gazebo model.
when I run as the following, there is an error showing no parameter file.

rosrun moveit_topp demo_traj_msg_to_optimal

my data/matlab_joint_traj.csv is as the following
Time_stamp,p1,v1,a1,p2,v2,a2,p3,v3 ,a3,p4,v4,a4,p5,v5,a5,p6,v6,a6
0,1.88E-05,0,0,0.0034417672,0,0,0.0001324975,0,-0.2473991715,0.0001269274,0,0,-4.13E-06,0,0,7.77E-06,0,0
0.291890802,0.1319748652,0.7673883571,3.0482365327,-0.1153813633,-0.6910141875,-2.7448614139,-0.0104067369,-0.0612907647,-0.2434604935,-0.0134020181,-0.0786773857,-0.312524003,-0.0105327475,-0.0612290037,-0.2432151651,0.0004178218,0.0023846601,0.0094723981
0.413767228,0.2639308923,1.25186248,3.1510079136,-0.2342044937,-1.1272711222,-2.837404494,-0.0209459714,-0.0999853699,-0.2516687709,-0.0269309636,-0.1283486597,-0.3230607586,-0.0210613619,-0.0998846174,-0.2514151713,0.0008278752,0.0038901639,0.0097917603
0.506627206,0.3958869194,1.5519717881,3.0583559616,-0.3530276241,-1.3975121126,-2.7539737087,-0.0314852058,-0.1239548878,-0.2442687251,-0.040459909,-0.1591177163,-0.3135615093,-0.0315899763,-0.1238299819,-0.2440225823,0.0012379287,0.0048227539,0.0095038443
0.585036082,0.5278429465,1.7526427578,1.8491325117,-0.4718507545,-1.578211345,-1.6650979758,-0.0420244403,-0.139982336,-0.1476889044,-0.0539888545,-0.1796917413,-0.1895844658,-0.0421185906,-0.1398412797,-0.1475400824,0.0016479822,0.0054463392,0.0057461

Kindly please help to slove this problem or a better tutorial which i can follow.

Warm Regards,
Lakshmi Prasanna.