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For me, the problem was in the launch file where an argument was not being specified

This error came while running ur5 (universal robot package) with moveit and rviz.

the sim:= true was missing while calling the command

$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

Inside the launch file, the "sim" argument actually does the remapping that @Nivedita T above mentions.