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I recently had this problem when trying MoveIt Setup Assistant
The error message was like yours:
Failed to contact master at [localhost:11311]. Retrying...
But when I went to another terminal and typed rostopic list, I was able to see the /rosout topic, so there was definitely a roscore running, which is expected, since I launched MoveIT using roslaunch (which automatically launches roscore):
roslaunch moveit_setup_assistant setup_assistant.launch --screen
So I remembered that I recently installed some MoveIt packages, but did not upgrade the whole system.
So I just upgraded, and after that, everything went fine with the MoveIt Setup Assistant:
sudo apt-get update && sudo apt-get upgrade
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