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I am able to operate the arm (using rosrun arbotix_python controllerGUI.py) by making the following changes. I do not know if I am overriding something else and did not try any of the related demos yet. If anyone recognizes a problem, please let me know. I will also update if there are troubles later on.

1) In file: /opt/ros/electric/stacks/turtlebot_arm/turtlebot_arm_bringup/config/arm.yaml
Change:

joints: {

To:

dynamixels: {

2) In file: /etc/ros/electric/turtlebot.launch
Change:

<arg name="urdf_file" value="$(find xacro)/xacro.py '$(find turtlebot_description)/robots/turtlebot.urdf.xacro'" />

To:

<arg name="urdf_file" value="$(find xacro)/xacro.py '$(find turtlebot_arm_description)/urdf/arm.urdf.xacro'" />