ROS MoveIt GripperCommand directed to position_controllers

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Hi there everyone, my question is this, how do I get MoveIt gripper_action or GripperCommand to control a ros_control position_controllers/JointPositionController type joint?

My configuration was talked about here

I have configured a controllers.yaml file in the MoveIt robot config package folder. like this:

ros_control_namespace: /
#controller_manager_ns: controller_manager
controller_list:
 - name: arm_controller
   action_ns: follow_joint_trajectory
   type: FollowJointTrajectory
   default: false
   joints:
     - jt1_joint
     - jt2_joint
     - jt3_joint
     - jt4_joint
   allowed_execution_duration_scaling: 1.2
   allowed_goal_duration_margin: 0.5

 - name: gripper_controller
   action_ns: gripper_action
   type: GripperCommand
   default: false
   parallel: false
   joints:
      - jt5_joint

initial:  # Define initial robot poses.
  - group: jaycar_arm
    pose: home

The above doesn't work, it says

[ WARN] [xxxx.yyyy]: Waiting for gripper_controller/gripper_action to come up
[ERROR] [xxxx.yyyy]: Action client not connected: gripper_controller/gripper_action

My jt5_joint is running as a ros controller as a position_controllers/JointPositionController which i can control using

rostopic pub /gripper_controller/command std_msgs/Float64 "data: 0.1"

How do i convert to something that MoveIt can use or configure MoveIt so it works with my joint control type?

I tried using moveit_ros_control

<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager"/>

instead of

<param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>

But that didn't help.

I'm hoping someone would be able steer me in the right direction. It seems that MoveIt only supports two types of controllers, the FollowJointTrajectory and GripperCommand. I cant find a list of supported controllers that match the ros_control controllers of which there are heaps of different types. Am I missing something? Thanks heaps in advance.