Hi everyone, I am trying to convert the configuration files (Kuka KR3) created by moveit2 setup assistant using ROS2 Humble to work with moveit in ROS2 Foxy. So far I am able to load the configuration in Rviz, but when I try to plan and execute a command I get the following error:

[move_group-4] [ERROR] [1682011288.218465041] [moveit_ros.trajectory_execution_manager]: Unable to identify any set of controllers that can actuate the specified joints: [ joint_a1 joint_a2 joint_a3 joint_a4 joint_a5 joint_a6 ]
[move_group-4] [ERROR] [1682011288.218482304] [moveit_ros.plan_execution]: Apparently trajectory initialization failed
[move_group-4] [INFO] [1682011288.218548900] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution
[move_group-4] [INFO] [1682011288.218548900] [moveit_move_group_default_capabilities.move_action_capability]: Solution found but controller failed during execution
[rviz2-1] [INFO] [1682011288.479528649] [move_group_interface]: Plan and Execute request aborted
[rviz2-1] [ERROR] [1682011288.579704635] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached

Here is the ros2_controller.yaml:

# This config file is used by ros2_control
controller_manager:
  ros__parameters:
    update_rate: 100  # Hz

    arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    hand_controller:
      type: joint_trajectory_controller/JointTrajectoryController


    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

arm_controller:
  ros__parameters:
    joints:
      - joint_a1
      - joint_a2
      - joint_a3
      - joint_a4
      - joint_a5
      - joint_a6
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity
hand_controller:
  ros__parameters:
    joints:
      - joint_left
      - joint_right
    command_interfaces:
      - position
    state_interfaces:
      - position
      - velocity

And moveit_controller.yaml:

moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:
  controller_names:
    - arm_controller
    - hand_controller

  arm_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - joint_a1
      - joint_a2
      - joint_a3
      - joint_a4
      - joint_a5
      - joint_a6
  hand_controller:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - joint_left
      - joint_right

I have all the controllers installed and I am able to run the example with the franka arm provided in moveit2 tutorials.

Any input would be highly appreciated!

Thank you!