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Have you spawned the controller manager for the arm in simulation? If so, try with remapping the action controller node with the name of the controller you've declared in your XX_controllers.yaml. Here I leave an example of remapping topics:

<remap if="$(arg sim)" from="/follow_joint_trajectory/action_topics/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/>

Have you spawned the controller manager for the arm in simulation? If so, try with remapping the action controller node with the name of the controller you've declared in your XX_controllers.yaml. XX_controllers.yaml. Here I leave an example of remapping topics:

  <!-- Remap follow_joint_trajectory. Remaping el suscrbed topic -->
  <remap if="$(arg sim)" from="/follow_joint_trajectory/action_topics/follow_joint_trajectory" to="/arm_controller/follow_joint_trajectory"/> 
to="/arm_controller/follow_joint_trajectory"/>