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The reason you get that error is because the MoveIt RViz plugin is expecting a MongoDB instance at the other end of that TCP connection, which is obviously not the case.

You don't use the MoveIt RViz plugin to connect to the MotoROS server running on your motoman controller. You use the nodes in the motoman_driver package.

You should take a look at the motoman_driver/Tutorials page for how to set this up, and use it properly. I think especially the Using the Motoman FS/DX ROS Interface (Hydro) tutorial should help.

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