Controller failed with error code INVALID_JOINTS

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Hello, I’m trying to achieve pick and place in gazebo for panda arm by using moveit+rviz to plan motion. I’m getting below error on the terminal from which i launch moveit_planning _execution.launch file.

Controller panda/panda_hand_controller failed with error code INVALID_JOINTS

here is my config/controllers.yaml file from moveit side

controller_manager_ns: controller_manager
controller_list:
  - name: panda/panda_arm_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints: 
        - panda_joint1
        - panda_joint2
        - panda_joint3
        - panda_joint4
        - panda_joint5
        - panda_joint6
        - panda_joint7

  - name: panda/panda_hand_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    default: true
    joints:
        - panda_finger_joint1
        - panda_finger_joint2

Below is my joint_names.yaml file

controller_joint_names: ['panda_joint1', 'panda_joint2', 'panda_joint3', 'panda_joint4', 'panda_joint5', 'panda_joint6', 'panda_joint7', ’panda_finger_joint1’, ’panda_finger_joint2’]

About moveit planning groups from setup assistant tool, below are the groups i have created. I’m using panda_arm as planning group in my code

Can someone tell me how to solve or debug this issue?

Update 1

On the terminal from which i spawn gazebo and controllers i get below error

Joints on incoming goal don't match the controller joints.

My suspect is that these errors are occurring because of following reason

I’m using "panda_arm " as planning group which doesn’t include finger_joints (in this case i’m doing as suggested in moveit_tutorial. ) Here can anyone suggest me how planning group should be in moveit setup_assistant?

Update 2

In gazebo, robot approaches the object and when it should open the finger joints( comparing to fake trajectory execution in rviz) robot stops the trajectory execution.