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You're mixing up two types of controller yaml files: MoveIt and ros_control (confusing I know)

Examples: - A ros_control configuration yaml looks like this: rrbot_controllers.yaml - A MoveIt configuration yaml looks like this: panda_gripper_controllers.yaml

They both have a type field, and you just have yours mixed up. For the ElectricGripperController the type should be "GripperCommand". Your other configs in that yaml are wrong also.

Your MoveIt configuration by default uses the MoveItSimpleControllerManager. Its simple, so it only supports two types: "FollowJointTrajectory" and "GripperCommand"

I hope this helps!