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The lines:

[ERROR] [1524843717.444503875]: Action client not connected: robotis_manipulator_h/main_group_controller/follow_joint_trajectory
[ INFO] [1524843717.550721955]: Returned 0 controllers in list

Would seem to imply the node is failing to connect to the hardware. Have you managed to control the real arm manually from ROS to make sure that connection is working okay?

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