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The error is:
'simple_moveit_controller_manager/SimpleMoveItControllerManager': According to the loaded plugin descriptions the class simple_moveit_controller_manager/SimpleMoveItControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are moveit_simple_controller_manager/MoveItSimpleControllerManager pr2_moveit_controller_manager/Pr2MoveItControllerManager
From what I can see is that you ask for simple_moveit_controller_manager/SimpleMoveItControllerManager, but the name you are looking for is moveit_simple_controller_manager/MoveItSimpleControllerManager.
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