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I hope, you solved your problem. I had the same problem and figure it out, so everybody with the same problem: here is my solution.

The file

your_catkin_ws/sc/fmauch_universal_robot/"your_ur"_moveit_config/config/controllers.yaml

has to look as follow:

    controller_list:
  - name: ""
    action_ns: /scaled_pos_joint_traj_controller/follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
      - shoulder_pan_joint
      - shoulder_lift_joint
      - elbow_joint
      - wrist_1_joint
      - wrist_2_joint
      - wrist_3_joint

You have to change "your_ur" with your robot (in this case UR5)

Hope that helps other people starting with ros!