Cannot connect to the real gripper (End Effector) and control it.

[upc-ghy]

PC
Ubuntu 20.04
ros noetic
I have correctly installed libFranka and Franka_ros according to the tutorial before installing Moveit.
When I follow https://moveit.ros.org/install/source/ When installing Moveit 1.0 without errors in the tutorial, I conducted the following tests on the installed Moveit:

I can control the movement of the real robotic arm in rviz, but I cannot connect to the gripper and control it.

And as long as I run
roslauch frankaself-control franka_control. launch robot_ip:=172.16.3.69 load_gripper:=true,
it will change from ready to end effector unconnected on the desk interface.






When adjusting the Planning Group to panda_hand, there will be the following error: