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The move_group node loads the SRDF from the /robot_description_semantic or ~/robot_description_semantic rosparams. If you have run the MoveIt! setup assistant, you should have a my_robot_moveit_config package. In the package there is a planning_context.launch file which uploads the URDF and SRDF to the parameter server. Make sure that you are launching this file first. If that still doesn't fix the problem, try a remapping inside the move_group node: <remap from="~/robot_description_semantic" to="/robot_description_semantic" /> as it may be looking in the node's namespace, rather than in the global namespace.
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