MoveIt error while integrating with Python

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I am trying to make my package that can use the MoveIt package. I created the code from ros-planning/moveit_tutorials. Below are the steps I followed:

1. Created a MoveIt package from the panda robot description urdf
2. Created a ROS package and added a launch file and a python script

However, I am encountering the following error upon running it:

[ WARN] [1663005829.657244307]: Link panda_rightfinger has visual geometry but no collision geometry. Collision geometry will be left empty. Fix your URDF file by explicitly specifying collision geometry.
[ERROR] [1663005829.974605130]: Client [/move_group] wants topic /move_group/goal to have datatype/md5sum [moveit_msgs/MoveGroupActionGoal/b7138704cefd43a8dd9758d697350b85], but our version has [moveit_msgs/MoveGroupActionGoal/152e336e337dce7cbe639f1bd9c65def]. Dropping connection.
Traceback (most recent call last):
  File "move_group_python_interface_tutorial.py", line 538, in <module>
    main()
  File "move_group_python_interface_tutorial.py", line 489, in main
    tutorial = MoveGroupPythonInterfaceTutorial()
  File "move_group_python_interface_tutorial.py", line 130, in __init__
    move_group = moveit_commander.MoveGroupCommander(group_name)
  File "/opt/ros/noetic/lib/python3/dist-packages/moveit_commander/move_group.py", line 66, in __init__
    self._g = _moveit_move_group_interface.MoveGroupInterface(
RuntimeError: Unable to connect to move_group action server 'move_group' within allotted time (5s)

I am having kind of an idea of what it means but don't know how to fix it.