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You did not follow through with this part of the tutorial: http://docs.ros.org/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/controller_configuration.html#create-the-controller-launch-file
Instead of filling in the Manipulator5d_moveit_controller_manager.launch.xml as it is stated in the tutorial, you created
your own manipulator5d_moveit_controller_manager.launch and copy&pasted launch descriptions from the other files.
The concrete problem because of which move_group can't find your controller is that you load the controller.yaml file yourself
and do not put it in the right namespace. move_group expects to find the parameter in /move_group/controller_list but your launch file
loads it in /controller_list.
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