Hello,

I am working with universalrobots package which is available on github https://github.com/ros-industrial/universalrobot.git and i follow the next tutorial to simulate an ur5 with MOVEIT and connecting MOVEIT with Gazebo -> https://www.youtube.com/watch?v=ayp87SjrwPc&ab_channel=SwagatKumar

Following the previous tutorial i made this controllers.yaml file

manipulator_controller:
  name: eff_joint_traj_controller/follow_joint_trajectory
  action_ns: "follow_joint_trajectory"
  Type: FollowJointTrajectory
  joints:
    - shoulder_pan_joint
    - shoulder_lift_joint
    - elbow_joint
    - wrist_1_joint
    - wrist_2_joint
    - wrist_3_joint

then the, joint_names.yaml file.

controller_joint_names: [shoulder_pan_joint, shoulder_lift_joint, elbow_joint, wrist_1_joint, wrist_2_joint, wrist_3_joint]

then I altered the ur5moveitcontroller_manager.launch.xml

<launch>
  <rosparam file="$(find demo_moveit_config)/config/controllers.yaml"/>
  <param name="use_controller_manager" value="false"/>
  <param name="trajectory_execution/execution_duration_monitoring" value="false"/>
  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
</launch>

then i made the demoplanningexecution.launch

<?xml version="1.0"?>
<launch>

  <rosparam command="load" file="$(find demo_moveit_config)/config/joint_names.yaml"/>

  <arg name="moveit_controller_manager" default="ur5" />
  <include file="$(find demo_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />

  <include file="$(find demo_moveit_config)/launch/planning_context.launch" >
    <arg name="load_robot_description" value="true" />
  </include>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/>
    <rosparam param="/source_list">[/joint_states]</rosparam>
  </node>

  <include file="$(find demo_moveit_config)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
  </include>

  <include file="$(find demo_moveit_config)/launch/moveit_rviz.launch">
  <arg name="rviz_config" value="true"/>
  </include>

</launch>

Steps taken: 1) I launch the ur5 model in gazebo by roslaunch (works fine) 2) I launch the demomoveitconfig package which I created using moveit and with my controllers configuration (works fine rviz opens) 3) I plan the movement it simulates perfectly in the RVIZ window 4) But, when I press "Execute" it gets executed in the RVIZ window but it doesnt simulate in gazebo, it throws me the following error in the terminal,

[ERROR] [1678231942.762883039, 16.385000000]: Unable to identify any set of controllers that can actuate the specified joints: [ elbow_joint shoulder_lift_joint shoulder_pan_joint wrist_1_joint wrist_2_joint wrist_3_joint ]
[ERROR] [1678231942.763435342, 16.385000000]: Known controllers and their joints:
[ERROR] [1678231942.763756137, 16.385000000]: Apparently trajectory initialization failed

It works perfectly fine in the video but doesn't work for me, can someone tell me what causes this error? I installed all the controllers and libraries but doesn't work too

Help me please