# Cannot find user-specified joint names | Failed to initialize joint names

I configured the industrial robot ur10 with moveit setup assistant. Later I tried to start the industrial-robot-simulator with the command:

roslaunch industrial_robot_simulator robot_interface_simulator.launch

I have the following error message:

[ERROR] [1562043668.421588734]: Cannot find user-specified joint names. Tried ROS parameter 'controller_joint_names' and the URDF in 'robot_description'.
[ERROR] [1562043668.421622246]: Failed to initialize joint_names.


Well I have looked in other similar issues fixed here in forum, and so I tried to follow one which recommends to change the joint names in the industrial robot simulator source code. And I configured there the official joints names given by my joint_limits.yaml of ur10. Accorind to this file there are 6 joints...and I assigned the name of them into the industrial robot simulator source code (located in /opt/ros/kinetic/lib/industrial_robot_simulator....

 # Joint names
def_joint_names = ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]


I would like to follow the tutorial and give the command:

roslaunch ur10_moveit_config moveit_planning_execution.launch


But I need first to fix this error

What I am confused is that in "ur10e.urdf.xacro" file is given more than 6 joints...there the following joints exists besides the previous 6 related above:

• shoulder_lift_joint; (revolute)
• {prefix}ee_fixed_joint