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

edit

HI everyone im configure my robot arm in MOVEIT an works fine when i run demo.launch , but when i try to run it with gazebo, first i have this WARNING & ERROR :

[ INFO] [1578774737.136603131, 5.894000000]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...

[ WARN] [1578774739.157864263, 7.774000000]: Waiting for gripper_controller/follow_joint_trajectory to come up

[ INFO] [1578774742.579925857, 10.914000000]: Failed to call service get_planning_scene, have you launched move_group? 
at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.17/planning_scene_monitor/src/planning_scene_monitor.cpp:491

[ INFO] [1578774745.621015809, 13.362000000]: Constructing new MoveGroup connection for group 'arm' in namespace ''

[ WARN] [1578774746.139798202, 13.776000000]: Waiting for gripper_controller/follow_joint_trajectory to come up

[ERROR] [1578774753.258813815, 19.776000000]: Action client not connected: gripper_controller/follow_joint_trajectory

And then when i created a new planning had the below warn and error:

[ INFO] [1578775095.446223626, 256.090000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.027612 
seconds
[ INFO] [1578775095.446529469, 256.091000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1578775095.446920003, 256.091000000]: RRTConnect: Starting planning with 1 states already in datastructure

[ INFO] [1578775095.458419074, 256.097000000]: RRTConnect: Created 6 states (2 start + 4 goal)

[ INFO] [1578775095.458526645, 256.097000000]: RRTConnect: Created 5 states (2 start + 3 goal)

[ INFO] [1578775095.459317195, 256.097000000]: ParallelPlan::solve(): Solution found by one or more threads in 0.012923 
seconds



  [ INFO] [1578775095.466620832, 256.104000000]: SimpleSetup: Path simplification took 0.007186 seconds and changed from 4 to 2 states

[ERROR] [1578775095.495185115, 256.126000000]: Joints on incoming goal don't match the controller joints.

[ WARN] [1578775095.496447441, 256.127000000]: Controller arm_controller failed with error code INVALID_JOINTS

[ WARN] [1578775095.499449045, 256.128000000]: Controller handle arm_controller reports status FAILED

[ INFO] [1578775095.499510155, 256.128000000]: Completed trajectory execution with status FAILED ...

This is my config file :

arm_controller:
  name: arm
  type: "position_controllers/JointTrajectoryController"
  default: true
  joints:
    - shoulder
    - elbow
    - wrist
    - hand
  name: gripper
  type: "position_controllers/JointTrajectoryController"

  default: true
  joints: 
    - right_knuckles
    - right_finger
    - left_knuckles
    - left_finger

You can find my URDF file in the follow LINK

This error happens after add GRIPPER GROUP in MOVEIT

I cant found solutions about this error , i hope you can help me!

Thanks for all