Error with MoveIt! MoveGroup: Unable to construct robot model

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I am very new to ROS (Indigo), and want to use the MoveIt! tools with a Kinova Mico arm. So, I decided to follow the official tutorial at: http://docs.ros.org/hydro/api/pr2_mov...

Here, it tells me to use the following line to create a MoveGroup:

moveit::planning_interface::MoveGroup group("right_arm");

What hasn't been explained, is what to use in place of "right_arm"?

I have created a package called mico_move, containing a node with the following code:

#include <moveit/move_group_interface/move_group.h>

int main(int argc, char **argv)
{
    ros::init(argc, argv, "mico_move_node");
    moveit::planning_interface::MoveGroup group("right_arm");

    return 0;
}

I build the package with catkin_make, then run it with rosrun mico_move mico_move_node.

However, this gives me the error:

[FATAL] [1432653194.030197342]: Unable to construct robot model. Please make sure all needed information is on the parameter server.
terminate called after throwing an instance of 'std::runtime_error'
  what():  Unable to construct robot model. Please make sure all needed information is on the parameter server.
Aborted (core dumped)

Why am I getting this error, and what do I need to put instead of "right_arm"? The tutorial does not give very much background help!