Error while running move_group.launch ( MoveitSimpleControllerManager: Action client not connected: arm_controller/follow_joint_trajectory )

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Hi, This question was already asked once but was not answered as it did not have sufficient information. On running the moveit_group.launch, following is the error thrown:

MoveitSimpleControllerManager: Action client not connected: cool1000_trajectory_controller/follow_joint_trajectory
Action client not connected: cool1000_gripper_controller/gripper_action

The code in the following link "https://github.com/davetcoleman/clam" is customized to a 7 dof arm having a different configuration from clam arm. The difference is in the sequence of joints in the arm. Here is the data in the configuration files:

cool1000.yaml

joint1_controller:
type: dynamixel_hardware_interface/JointPositionController
joint: joint1
max_velocity: 0.2
motors:
    - id: 0
      init: 2048
      min: 318
      max: 3779
joint2_controller:
type: dynamixel_hardware_interface/JointPositionController
joint: joint2
max_velocity: 0.2
motors:
    - id: 1
      init: 2048
      min: 1017
      max: 3084
    - id: 2
      reversed: true
joint3_controller:
type: dynamixel_hardware_interface/JointPositionController
joint: joint3
max_velocity: 0.2
motors:
    - id: 3
      init: 2048
      min: 275
      max: 3796
joint4_controller:
type: dynamixel_hardware_interface/JointPositionController
joint: joint4
max_velocity: 0.2
motors:
    - id: 4
      init: 2048
      min: 920
      max: 3186
joint5_controller:
type: dynamixel_hardware_interface/JointPositionController
joint: joint5
max_velocity: 0.2
motors:
    - id: 5
      init: 2048
      min: 797
      max: 3304
joint6_controller:
type: dynamixel_hardware_interface/JointPositionController
joint: joint6
max_velocity: 0.2
motors:
    - id: 6
      init: 2048
      min: 707
      max: 3281
joint7_controller:
type: dynamixel_hardware_interface/JointPositionController
joint: joint7
max_velocity: 0.2
motors:
    - id: 7
      init: 2048
      min: 175
      max: 3948
gripper_controller:
type: dynamixel_hardware_interface/JointPositionController
joint: gripper_joint
max_velocity: 0.2
motors:
    - id: 8
      init: 2048
      min: 1403
      max: 2670

cool1000_trajectory_controller.yaml

cool1000_trajectory_controller:
type: dynamixel_hardware_interface/JointTrajectoryActionController
dependencies:
    - joint1_controller
    - joint2_controller
    - joint3_controller
    - joint4_controller
    - joint5_controller
    - joint6_controller
    - joint7_controller
joint_trajectory_action_node:
    min_velocity: 0.0
    constraints:
        goal_time: 0.3  
        joint1:
            goal: 0.2
        joint2:
            goal: 0.2
        joint3:
            goal: 0.2
        joint4:
            goal: 0.2
        joint5:
            goal: 0.2
        joint6:
            goal: 0.2
        joint7:
            goal: 0.2

The above config files are called within a launch file having the following line in it:

  <!-- Start arm trajectory action controller. -->
  <rosparam file="$(find cool1000_controller)/config/cool1000_trajectory_controller.yaml" command="load"/>
  <node name="arm_trajectory_controller_spawner" pkg="dynamixel_hardware_interface" type="controller_spawner.py"
    args="--manager=cool1000_controller_manager
          --port=multi_joint_dummy_port
          cool1000_trajectory_controller"
    output="screen"/>

In the cool1000_moveit_config folder following are the values in the controllers.yaml:

controller_manager_ns: cool1000_controller_manager
controller_list:
  - name: cool1000_trajectory_controller
  action_ns: follow_joint_trajectory
  type: FollowJointTrajectory
  default: true
  joints:
   - joint1
   - joint2
   - joint3
   - joint4
   - joint5
   - joint6
   - joint7
- name: cool1000_gripper_controller
  action_ns: gripper_action
  type: GripperCommand
  default: true
  joints:
   - gripper_joint