Moveit2 humble: how to use customized robot description and control it in Rviz

[MyLovelyAxe]

I am trying to control a cutomized robot model with MoveIt2 in ROS humble, e.g. I have a urdf file, load it in MoveIt Setup Assistant and get a config packages. What should I do next? Do I need to build all packages from moveit2-tutorials?

.
├── launch_param_builder
├── moveit2
│   ├── moveit
│   ├── moveit2.repos
│   ├── moveit_commander
│   ├── moveit_common
│   ├── moveit_configs_utils
│   ├── moveit_core
│   ├── moveit_experimental
│   ├── moveit_kinematics
│   ├── moveit_planners
│   ├── moveit_plugins
│   ├── moveit_ros
│   ├── moveit_runtime
│   ├── moveit_setup_assistant
├── moveit2_tutorials
├── moveit_resources
│   ├── fanuc_description
│   ├── fanuc_moveit_config
│   ├── moveit_resources
│   ├── panda_description
│   ├── panda_moveit_config
│   ├── pr2_description
├── moveit_task_constructor
├── moveit_visual_tools
├── rosparam_shortcuts
└── srdfdom

In order to do this without full moveit2-tutorial packages, I tried this:

I have gone through MoveIt2 humble tutorial from official instruction page, I managed to build the entire moveit2-tutorial and give goal state with hello_moveit package (in Your First C++ MoveIt Project tutorial.) But this is based on launching rviz with:

ros2 launch moveit2_tutorials demo.launch.py

In my project, I want to give goal poses also through customized package without replying on moveit2_tutorial launching. So I tried this pipeline:

1. Launch Rviz with ros2 launch moveit_resources_panda_moveit_config demo.launch.py, which is from config package for panda robot from MoveIt Setup Assistant. This works fine, I still can give goal state through MotionPlanning panel in Rviz.
2. Run hello_moveit with ros2 run hello_moveit hello_moveit

But this fails with this error:

[ERROR] [1750504638.173724344] [hello_moveit]: Could not find parameter robot_description_semantic and did not receive robot_description_semantic via std_msgs::msg::String subscription within 10.000000 seconds.
Error:   Could not parse the SRDF XML File. Error=XML_ERROR_EMPTY_DOCUMENT ErrorID=13 (0xd) Line number=0
         at line 732 in /home/hardli/ROS2/moveit2_tutorial_ws/src/srdfdom/src/model.cpp
[ERROR] [1750504638.180391933] [moveit_rdf_loader.rdf_loader]: Unable to parse SRDF
[FATAL] [1750504638.180900135] [move_group_interface]: Unable to construct robot model. Please make sure all needed information is on the parameter server.
terminate called after throwing an instance of 'std::runtime_error'
  what():  Unable to construct robot model. Please make sure all needed information is on the parameter server.
[ros2run]: Aborted

I can confirm that if I launch Rviz through ros2 launch moveit2_tutorials demo.launch.py and use ros2 run hello_moveit hello_moveit to give goal state, it works. I assume that ros2 launch moveit2_tutorials demo.launch.py launch something that ros2 launch moveit_resources_panda_moveit_config demo.launch.py doesn't launch. But I have no clue what is that and how to find it.

If the direction that I tried is totally wrong, I appreciate to have an advice!