Clam arm Random Planning Error

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Hello,

I'm busy with a custom made robotic arm with dynamixels. I tried to make the Clam arm package work: http://correll.cs.colorado.edu/clam/?... But I get this error:

[ERROR] [1432652016.571410483]: Action client not connected: clam_trajectory_controller/follow_joint_trajectory
[ERROR] [1432652016.583555964]: No controller handle for controller 'clam_trajectory_controller'. Aborting.

I can't find the error myself. Anybody who succeeded with the clam arm? And maybe have some recomendations?

The rostopic list:

/attached_collision_object
/clam_gripper_controller/gripper_action/cancel
/clam_gripper_controller/gripper_action/feedback
/clam_gripper_controller/gripper_action/goal
/clam_gripper_controller/gripper_action/result
/clam_gripper_controller/gripper_action/status
/clam_trajectory_controller/follow_joint_trajectory/cancel
/clam_trajectory_controller/follow_joint_trajectory/feedback
/clam_trajectory_controller/follow_joint_trajectory/goal
/clam_trajectory_controller/follow_joint_trajectory/result
/clam_trajectory_controller/follow_joint_trajectory/status
/collision_object
/diagnostics
/elbow_pitch_controller/state
/elbow_roll_controller/command
/elbow_roll_controller/state
/gripper_finger_controller/command
/gripper_finger_controller/state
/gripper_roll_controller/state
/joint_states
/motor_states/port_rs485
/move_group/cancel
/move_group/display_contacts
/move_group/display_planned_path
/move_group/feedback
/move_group/goal
/move_group/monitored_planning_scene
/move_group/ompl/parameter_descriptions
/move_group/ompl/parameter_updates
/move_group/plan_execution/parameter_descriptions
/move_group/plan_execution/parameter_updates
/move_group/planning_scene_monitor/parameter_descriptions
/move_group/planning_scene_monitor/parameter_updates
/move_group/result
/move_group/sense_for_plan/parameter_descriptions
/move_group/sense_for_plan/parameter_updates
/move_group/status
/move_group/trajectory_execution/parameter_descriptions
/move_group/trajectory_execution/parameter_updates
/pickup/cancel
/pickup/feedback
/pickup/goal
/pickup/result
/pickup/status
/place/cancel
/place/feedback
/place/goal
/place/result
/place/status
/planning_scene
/planning_scene_world
/rosout
/rosout_agg
/shoulder_pan_controller/command
/shoulder_pan_controller/state
/shoulder_pitch_controller/command
/shoulder_pitch_controller/state
/tf
/tf_static
/trajectory_execution_event
/wrist_pitch_controller/state
/wrist_roll_controller/state

Kind Regards,