Error with real UR5: Can't accept new action goals. Controller is not running.

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I get the following error when I try to send the UR5 a goal: Can't accept new action goals. Controller is not running.

Here are the commands I am running:

$ roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=169.254.198.35 kinematics_config:="${HOME}/my_robot_calibration.yaml"
$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true

The console is however printing that the controllers have been loaded:

[INFO] [1574671438.720679]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
[INFO] [1574671438.728787]: Started controllers: joint_state_controller, scaled_pos_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller

RViz is still able to plan the goal. Does anyone know what the issue is? Let me know if more information is needed.