Hi everyone!

First of all I am new with ROS environment, however I am trying for my final master project to create the ros packages and comunicate with ROS the pa10 mitsubishi robot which was quite used in universities.

I have already completed the main tutorials from the ros industrial tutorials page and you can find my files here ( https://github.com/meimar18/pa10 )

I have already created my urdf files, my moveitconfig, and srdf files for gazebo. Now I am trying to implement the tutorial to create the moveitplanningexecution.launch (http://wiki.ros.org/Industrial/Tutorials/CreateaMoveItPkgforanIndustrialRobot) file and I have found this error:

MoveItSimpleControllerManager: Action client not connected: pa10controller/jointtrajectory_action.

I have been searching information and it seems that the industrialrobotsimulator with the industrialrobotclient jointtrajectoryaction node should bring this action client however it is not doing it. I have looked at the code of the jointtrajectoryaction and it does not have a main itself, should I create it? should I create the controllers also? and the transmissions in the gazebo files for simulation?

How can I proceed, If anyone could give me some advices I would really appreciate it. Thanks everyone.

PD: these files, I am creating them to follow the ROS-I tutorials, however my main purpose is to connect the actual server of the real controller ( which is written in C++ ) to ROS.