Cannot control gazebo model and getting error "Action client not connected"

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I'm trying to move a robot(Yaskawa SIA20) in gazebo simulation with moveit.

I made a robot with gripper as follows.

sia20_imgur

As the above picture shows, I tried to control with rviz through moveit. But, the robot didn't move in gazebo.

And I realized following error.

[ERROR] [1545806649.874672718, 17.175000000]: Action client not connected: /sia20/sia20_joint_controller/follow_joint_controller

I think that this error is a hint to solve my problem. Although this error has been asked sometimes in ros-ansers, but, those existing answers could not help me.

Please tell what I forget and how to solve this problem. I doubt my package name, because package name(sia20_with_gripper_moveit_config) and namespace(sia20) in controller.yaml are different.

• whole error message(copy of terminal)
• launch file
• controllers.yaml
• moveit_controller_manager.launch.xml
• controller.yaml
• package repository
• If you need more information, let me know. I'll tell you soon.

Thanks in advance.