Ros tiago and moveit

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Hello every body I have got a problem with moveit and tiago. In fact, i launch moveit, but i wwould like manipulate robot (in real not simulation). Tiago don't move. I launch moveit, i have got a log :

> roslaunch tiago_moveit_config
> moveit_rviz.launch config:=true...
> logging to
> /home/pal/.ros/log/b4f67c60-3137-11ea-94fb-38d54724dd64/roslaunch-development-7529.log
> Checking log directory for disk usage.
> This may take awhile. Press Ctrl-C to
> interrupt Done checking log file disk
> usage. Usage is <1GB.
> 
> started roslaunch server
> http://10.68.0.128:35841/
> 
> SUMMARY
> ========
> 
> PARAMETERS  * /rosdistro: kinetic  *
> /rosversion: 1.12.14  *
> /rviz_development_7529_4526472811391675253/arm/kinematics_solver:
> kdl_kinematics_pl...  *
> /rviz_development_7529_4526472811391675253/arm/kinematics_solver_attempts:
> 3  *
> /rviz_development_7529_4526472811391675253/arm/kinematics_solver_search_resolution:
> 0.005  * /rviz_development_7529_4526472811391675253/arm/kinematics_solver_timeout:
> 0.005  * /rviz_development_7529_4526472811391675253/arm_torso/kinematics_solver:
> kdl_kinematics_pl...  *
> /rviz_development_7529_4526472811391675253/arm_torso/kinematics_solver_attempts:
> 3  *
> /rviz_development_7529_4526472811391675253/arm_torso/kinematics_solver_search_resolution:
> 0.005  * /rviz_development_7529_4526472811391675253/arm_torso/kinematics_solver_timeout:
> 0.005
> 
> NODES   /
>     rviz_development_7529_4526472811391675253
> (rviz/rviz)
> 
> ROS_MASTER_URI=http://10.68.0.1:11311
> 
> process[rviz_development_7529_4526472811391675253-1]:
> started with pid [7538] [ INFO]
> [1578411851.786644751]: rviz version
> 1.12.16 [ INFO] [1578411851.786675091]: compiled
> against Qt version 5.5.1 [ INFO]
> [1578411851.786681927]: compiled
> against OGRE version 1.9.0 (Ghadamon)
> [ INFO] [1578411852.200248362]: Stereo
> is NOT SUPPORTED [ INFO]
> [1578411852.200306060]: OpenGl
> version: 4.5 (GLSL 4.5). [ INFO]
> [1578411855.836287536]: Loading robot
> model 'tiago'... [ INFO]
> [1578411855.836406765]: No
> root/virtual joint specified in SRDF.
> Assuming fixed joint [ INFO]
> [1578411856.684935537]: Loading robot
> model 'tiago'... [ INFO]
> [1578411856.685018056]: No
> root/virtual joint specified in SRDF.
> Assuming fixed joint [ INFO]
> [1578411856.877204441]: Loading robot
> model 'tiago'... [ INFO]
> [1578411856.877280020]: No
> root/virtual joint specified in SRDF.
> Assuming fixed joint [ INFO]
> [1578411857.145020553]: Starting scene
> monitor [ INFO]
> [1578411857.168626986]: Listening to
> '/move_group/monitored_planning_scene'
> [ WARN] [1578411857.331227399]: The
> STL file
> 'package://pmb2_description/meshes/base/high_resolution/base_collision.stl'
> is malformed. It starts with the word
> 'solid', indicating that it's an ASCII
> STL file, but it does not contain the
> word 'endsolid' so it is either a
> malformed ASCII STL file or it is
> actually a binary STL file. Trying to
> interpret it as a binary STL file
> instead. [ INFO]
> [1578411857.521878883]: Constructing
> new MoveGroup connection for group
> 'arm' in namespace '' [ WARN]
> [1578411858.702214978]:  Deprecation
> warning: Trajectory execution service
> is deprecated (was replaced by an
> action). Replace
> 'MoveGroupExecuteService' with
> 'MoveGroupExecuteTrajectoryAction' in
> move_group.launch [ INFO]
> [1578411858.725167784]: Ready to take
> commands for planning group arm. [
> INFO] [1578411858.725290301]: Looking
> around: no [ INFO]
> [1578411858.725344168]: Replanning: no
> [ WARN] [1578411858.752659545]:
> Interactive marker
> 'EE:goal_arm_tool_link' contains
> u

I change adress in context 10.68.0 ... (more)