Using Pilz motion planner with moveitcpp

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Hello,

I am trying to setup a planning pipeline with the pilz_industrial_motion_planner using moveitcpp on ros2 galactic.

In my launch file I have:

pilz_industrial_planning_pipeline_config = {
    "planning_plugin": "pilz_industrial_motion_planner/CommandPlanner",
    "request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds  default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
    "start_state_max_bounds_error": 0.1,
}

moveit_cpp_node = Node(
    name="node_mvcpp",
    package="pkg_bringup",
    executable="node_mvcpp",
    output="screen",
    parameters=[
        moveit_cpp_yaml_file_name,
        robot_description,
        robot_description_semantic,
        kinematics_yaml,
        # ompl_planning_pipeline_config,
        {"pilz": pilz_industrial_planning_pipeline_config},
        moveit_controllers,
        joint_limits_yaml,
        cartesian_limits_yaml
    ],
)

and in the moveit_cpp.yaml file:

node_mvcpp:
 ros__parameters:
  planning_scene_monitor_options:
   name: "planning_scene_monitor"
   robot_description: "robot_description"
   joint_state_topic: "/joint_states"
   attached_collision_object_topic: "/moveit_cpp/planning_scene_monitor"
   publish_planning_scene_topic: "/moveit_cpp/publish_planning_scene"
   monitored_planning_scene_topic: "/moveit_cpp/monitored_planning_scene"
   wait_for_initial_state_timeout: 10.0

planning_pipelines:
  #namespace: "moveit_cpp"  # optional, default is ~
  pipeline_names: ["pilz"]

plan_request_params:
  planner_id: LIN
  planning_attempts: 10
  planning_time: 10.0 
  planning_pipeline: pilz
  max_velocity_scaling_factor: 1.0
  max_acceleration_scaling_factor: 1.0

When running this setup I get :

[ERROR] [1647942366.953661948] [moveit.ros_planning_interface.moveit_cpp]: No planning pipelines loaded for group 'robot_arm'. Check planning pipeline and controller setup.

What am I missing? Could someone tell me how/where should I setup the group 'robot_arm' with the pilz planning pipeline ? When running OMPL there is a configuration file ompl_planning.yaml that doas the job. is it the same for pilz ?

Thanks!