Moveit Demo Errors

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Hey, I used the setup assistant with my manipulator URDF in order to create its Moveit package, and now I am trying to launch its demo. I ran into 2 errors while doing so:

    [ INFO] [1658391246.627900434]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1658391251.644354894]: Failed to call service get_planning_scene, have you launched move_group or called psm.providePlanningSceneService()?
[ INFO] [1658391251.644529834]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ERROR] [1658391281.654273188]: Unable to connect to move_group action server 'move_group' within allotted time (30s)
[ INFO] [1658391281.654798990]: Constructing new MoveGroup connection for group 'arm' in namespace ''
[ WARN] [1658391283.180896438]: It is likely there are too many vertices in collision geometry

This one I guess should be solved if I will simplify the meshes in my URDF.

However, I don't know how to approach the second one:

[ERROR] [1658391294.029097269]: Parameter 'initial' should be an array of (group, pose) structs.

Does anybody have an idea?