Joint Trajectory Controller Problem - ROS Hydro, Gazebo 1.9, MoveIt

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Hi, I am trying to build a simple simulation that uses ROS, Gazebo and MoveIt. I am currently trying to implement joint trajectory controllers on the Gazebo model so that it can communicate with MoveIt. Its only a very simple model as I want to master the basics before building a more complicated robot in simulation.

So far I have: 1) loaded a 'joint_trajectory_controllers.yaml' file (defines the joints to be controlled with type:position_controllers/JointTrajectoryController ) onto parameter server 2) passed the controller names to the node that spawns the controllers

When I run the code, it fails to load the controller and returns the error: "This controller requires a hardware interface of type 'hardware_interface::PositionJointInterface'. Make sure this is registered in the hardware_interface::RobotHW class."

I have tried to modify the hardware interface arguments in the transmissions but nothing seems to work?!

Can someone who has done this before outline the discrete steps required to implement this controller and/or tell me how to fix this error. Or link me to a (preferably simple) example that works in Hydro - I have been using the Reem model as a reference so far and while it works perfectly, its complexity makes it hard to use for debugging my problem. Any help would be greatly appreciated!

Thanks in advance