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Changing the roslaunch file to

<launch>
<node name="counter_as" pkg="actionlib_test" type="counter_server.py" respawn="true"  output="screen"/>
</launch>

Had to match the name in the launch file to the name specified in the client, I had thought having the init node with the server name was enough.

Changing the roslaunch file to

<launch>
<node name="counter_as" pkg="actionlib_test" type="counter_server.py" respawn="true"  output="screen"/>
</launch>

Had to match the name in the launch file to the name specified in the client, I had thought just having the init node with the server name "counter_as" in init_node of counter_server.py was enough.sufficient.