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For the following error:

[ERROR] [1642350646.192738964]: Unable to connect to the database at 'localhost:33829'. If you just created the database, it could take a while for initial setup.

Likely cause is missing dependencies. Install the following:

sudo apt install mongodb-server-core
sudo apt install ros-noetic-warehouse-ros
# Not sure if the command below is needed...
sudo apt install ros-noetic-warehouse-ros-mongo

To verify mongod is working:

mongod -v

If the following error appears:

[ERROR] [1615567759.671633]: Mongo process exited with error code 100

That is because you have forgotten to kill your roslaunch panda_moveit_config demo.launch db:=true

The suggested solution comes from this thread: https://github.com/ros-planning/moveit/issues/123#issuecomment-797582356