Cannot connect MoveIt with Gazebo

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Hi, I am new to ROS and trying to connect MoveIt with Gazebo simulation for a scara robot. I am facing with this particular error. I have created the urdf file and tuned all the joints accordingly.

RLException: unused args [execution_type] for include of [/home/mrj/catkin_ws/src/scara_moveit_config/launch/scara_moveit_controller_manager.launch.xml] The traceback for the exception was written to the log file

Below is my scara_moveit_controller_manager.launch.xml file

<launch>
  <rosparam file="$(find scara_moveit_config)/config/controllers.yaml"/>
  <param name="use_controller_manager" value="false"/>
  <param name="trajectory_execution/execution_duration_monitoring" value="false"/>
  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
</launch>

Controllers.yaml

controller list:
  - name: arm_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
      - base_link_link_01
      - link_01_link_02
      - link_02_link_03

  - name: gripper_controller
    action_ns: follow_joint_trajectory
    type: FollowJointTrajectory
    joints:
      - link_03_link_04 </launch>

I had created a joints_names.yaml file to load in the parameter server

controller_joint_names: [base_link_link_01,link_01_link_02,link_02_link_03,link_03_link_04]

And this is the main planning_execution file I am running

<launch>
    <rosparam command="load" file="$(find scara_moveit_config)/config/joint_names.yaml"/>

    <include file="$(find scara_moveit_config)/launch/planning_context.launch">
        <arg name="load_robot_description" value="true"/>
    </include>

    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
        <param name="/use_gui" value="false"/>
        <rosparam param="/source_list">[/joint_states]</rosparam>
    </node>

    <include file="$(find scara_moveit_config)/launch/move_group.launch">
        <arg name="publish_monitored_planning_scene" value="true"/>
    </include>

    <include file="$(find scara_moveit_config)/launch/moveit_rviz.launch">
        <arg name="config" value="true"/>
    </include>
</launch>

Thanks for your help.