Could not initialize robot simulation interface.

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I'm relatively new to ROS. I started with raw URDF exported from solidworks. Then created moveit_config package by moveit_setup_assistant. Here are the related files: URDF file:

<robot name="prochesta_arm">
    <material name="white">
        <color rgba="1.0 1.0 1.0 1.0"/>
    </material>
    <material name="grey">
        <color rgba="0.5 0.5 0.5 1.0"/>
    </material>
    <material name="grey_2">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
    </material>
    <material name="pink">
        <color rgba="1.0 0.5 0.5 1.0" />
    </material>
    <material name="blue">
        <color rgba="0.0 0.4 1.0 1.0" />
    </material>
    <material name="green">
        <color rgba="0.0 1.0 0.5 1.0" />
    </material>
    <link name="base_bar">
        <!--inertial>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <mass value="0.392347184025621" />
            <inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
        </inertial-->
        <visual>
            <origin xyz="0.0 0.0 0.05" rpy="0.0 0.0 0.0"/>
            <geometry>
                <box size="0.01 0.01 0.1"/>
            </geometry>
            <material name="grey"/>
        </visual>
        <collision>
            <origin xyz="0.0 0.0 0.05" rpy="0.0 0.0 0.0"/>
            <geometry>
                <box size="0.01 0.01 0.1"/>
            </geometry>
        </collision>
    </link>
    <joint name="base_plane__ArmBase" type="fixed">
        <origin rpy="0.0 0.0 0.0" xyz="0.0546412131471822 0.0 0.11" />
        <parent link="base_bar" />
        <child link="ArmBase" />
        <axis xyz="0.0 0.0 0.0" />
        <limit lower="0.0" upper="0.0" effort="1000.0" velocity="50.0"/>
    </joint>
    <joint name="base_bar__base_plane" type="fixed">
        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
        <parent link="base_plane"/>
        <child link="base_bar"/>
        <axis xyz="0.0 0.0 0.0"/>
        <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0"/>
    </joint>
    <link name="base_plane">
        <!--inertial>
            <origin rpy="0 0 0" xyz="0 0 0" />
            <mass value="0.392347184025621" />
            <inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
        </inertial-->
        <visual name="">
            <origin xyz="0.0 0.0 0.01" rpy="0.0 0.0 0.0"/>
            <geometry>
                <box size="1.5 1.5 0.02"/>
            </geometry>
            <material name="grey"/>
        </visual>
        <collision>
            <origin xyz="0.0 0.0 0.01" rpy="0.0 0.0 0.0"/>
            <geometry>
                <box size="1.5 1.5 0.02"/>
            </geometry>
        </collision>
    </link>
    <link name="ArmBase">
        <inertial>
            <origin rpy="0 0 0" xyz="-0.0546412131471822 0.0142569733044021 0.0105265889786102" />
            <mass value="0.392347184025621" />
            <inertia ixx="0.00037313359562078" ixy="-3.88508187746182E-07" ixz="-9.7227823468437E-06" iyy="0.000612254064917396" iyz="6.685567634577E-07" izz="0.000292429195752973" />
        < ...