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The reason that the controller couldn't be detected was in the controllers.yaml file, rather stupid mistake, but nevertheless:

Original code:

controller_list:
-name: /kuka_kr3/joint_trajectory_controller/
action_ns: "follow_joint_trajectory"
type: FollowJointTrajectory
joints:
  -  Kuka_kr3__base_revolute
  -  Kuka_kr3__first_rotation
  -  Kuka_kr3__second_rotation
  -  Kuka_kr3__third_rotation
  -  Kuka_kr3__fourth_rotation
  -  Kuka_kr3__fifth_rotation

Fixed version (name parameter lacked a space)

controller_list:
- name: /kuka_kr3/joint_trajectory_controller/
action_ns: "follow_joint_trajectory"
type: FollowJointTrajectory
joints:
  -  Kuka_kr3__base_revolute
  -  Kuka_kr3__first_rotation
  -  Kuka_kr3__second_rotation
  -  Kuka_kr3__third_rotation
  -  Kuka_kr3__fourth_rotation
  -  Kuka_kr3__fifth_rotation