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This indeed was an issue of matching the controller names in the file to those expected in gazebo! @fvd My git for the project can be found here. The files that I created: controllers.yaml controllers1.yaml The files I modified: demo_gazebo.launch gazebo.launch ros_controllers.launch arm_moveit_controller_manager.launch.xml When demo_gazebo.launch is run, both rviz and gazebo open successfully and I am able to send the moveit instructions to the gazebo model.

This indeed was an issue of matching the controller names in the file to those expected in gazebo! @fvd My git for the project can be found here. .

The files that I created: controllers.yaml controllers1.yaml controllers.yaml controllers1.yaml

The files I modified: demo_gazebo.launch gazebo.launch ros_controllers.launch arm_moveit_controller_manager.launch.xml arm_moveit_controller_manager.launch.xml

When demo_gazebo.launch is run, both rviz and gazebo open successfully and I am able to send the moveit instructions to the gazebo model.