Action client not connected using moveit and gazebo

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Hi everyone, I am using ros melodic and trying to connect moveit with gazebo 9. I started with ABB robot, created moveit package with moveit setup assistant and following this tutorial

but when I start

moveit_planning_execution.launch

I get this error:

[ERROR] [1559761089.791871461,326.739000000]: Action client not connected:
abb_arm_controller/joint_trajectory_action

When I try to see all action servers with this command:

rostopic list | grep -i goal

I get this output:

/execute_trajectory/goal   
/joint_trajectory_action/goal 
/move_base_simple/goal   
/move_group/goal/pickup/goal   
/place/goal

I am using joint_trajectory_action action server, but I tried with other and it is not working.

So when I try to plan some movement of the robot in RVIZ everything is ok until I try to execute movement, in that case I get error:

Unable to identify any set of controllers that can actuate the specified joints: [ joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 ] [ERROR] [1559760897.116014819, 177.075000000]: Known controllers and their joints:

[ INFO] [1559760897.125015947, 177.087000000]: ABORTED: Solution found but controller failed during execution

Does anyone knows what could be reason for this error? Any help would be appreciated. Thanks in advance