moveit Action client not connected

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Hello,

I need help with MoveIt setup for a custom robot. I am using ROS Indigo, Ubuntu 14.04 with latest MoveIt.

All robot packages with MoveIt configured are here: https://github.com/byeongkyu/safe_arm
The robot is described here: http://www.slideshare.net/ahnbk/oroca...

It can be started by running these files in separate terminals:
roslaunch safe_arm_bringup bringup.launch
roslauch safe_arm_bringup bringup_moveit.launch

The path planning works, however execution doesn't. I get the following error when starting the simulator:

• MoveitSimpleControllerManager: Action client not connected: safe_arm/l_arm_joint_controller/follow_joint_trajectory
• MoveitSimpleControllerManager: Action client not connected: safe_arm/r_arm_joint_controller/follow_joint_trajectory

Also, I get warnings:

• Controller Spawner couldn't find the expected controller_manager ROS interface. [safe_arm/joint_controller_spawner-5] process has finished cleanly

• Controller Spawner couldn't find the expected controller_manager ROS interface. [safe_arm/l_controller_spawner-7] process has finished cleanly

• Controller Spawner couldn't find the expected controller_manager ROS interface. [safe_arm/r_controller_spawner-8] process has finished cleanly

I have these packages installed:

ros-indigo-gazebo-ros-pkgs,
ros-indigo-gazebo-ros-control,
ros-indigo-moveit-*,
ros-indigo-ros-control,
ros-indigo-ros-controllers,
ros-indigo-joint-state-controller,
ros-indigo-effort-controllers,
ros-indigo-position-controllers,
ros-indigo-joint-trajectory-controller.

Is there something missing? I have spent a lot of time tweaking the configuration files, but no luck... Any help would be much appreciated.