Action client not connected: /follow_joint_trajectory

edit

Hello,

I am running ros Kinetic on Ubuntu 16.04. Moveit works correctly with in simulation with a UR5 but during actual testing with the hardware I get an error message that reads

[ERROR] Action client not connected: /follow_joint_trajectory

I've followed the readme here: https://github.com/ros-industrial/ur_...

Here are the commands I am running:

roslaunch ur_modern_driver ur5_bringup.launch robot_ip:=ROBOTIP [reverse_port:=REVERSE_PORT] roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true

My controllers.yaml file has the FollowJointTrajectory action specified as in the ur_modern_driver tutorial.

Can someone let me know what I'm missing?