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I created a my_robot_moveit.launch file to start rviz and moveit (like demo.launch but enabling reading from joint_states). I set fake_execution to false.
The move_group.launch should do just that out of the box...
I created Python action servers that handle action messages sent by MoveIt for each move group in a new package named my_robot_controller
These should setup FollowJointTrajectory actions on the topics you configured in MoveIt.
You have to have them started when MoveIt starts up.
Action client not connected: arm6dof_controller/follow_joint_trajectory
This means your action server is either not configured to run on the topics "arm6dof_controller/follow_joint_trajectory/goal", ...
or you simply didn't start it before starting the move_group.
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