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hey..... i was getting the same error ..[ERROR] [1534930610.891287885, 28.494000000]: Action client not connected: arm_controller/follow_joint_trajectory
so after scratching my head for a long time i modified the controllers.yaml file present in moveit_config. i changed the action_ns to arm_controller/follow_joint_trajectory. i.e. action_ns: arm_controller/follow_joint_trajectory. so in your case it has to be action_ns : uvbot_v1/arm_joint_controller/follow_joint_trajectory. this did the trick for me..

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