Problems connecting to staubli cs9: ERROR:= Action client not connected: /joint_trajectory_action

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Hai, I am using a staubli tx2_60 robot with cs9 and i am trying to interface it with ROS (kinetic in ubuntu 16.04) using ros_industrial support and staubli_val3_driver. After creating a moveit package for staubli tx2_60 i created a launch file by following this tutorial:- https://industrial-training-master.re... .

When i try to launch moveit_planning_execution.launch, I am facing the following issue:- 1)

ERROR: cannot launch node of type [warehouse_ros_mongo/mongo_wrapper_ros.py]: warehouse_ros_mongo ROS path [0]=/opt/ros/kinetic/share/ros ROS path [1]=/home/ash/catkin_ws/src ROS path [2]=/opt/ros/kinetic/share

2)

[ERROR] [1623437188.939391266]: No sensor plugin specified for octomap updater 0; ignoring.

3)

[ERROR] [1623437188.991641217]: Could not find the planner configuration 'None' on the param server

And more importantly,

4)

Action client not connected: /joint_trajectory_action

I am not sure why this error keeps coming even after i have changed my Joints_name.yaml to joint_N format and my ros_controllers.yaml to the following

controller_list:
  - name: ""
    action_ns: joint_trajectory_action
    type: FollowJointTrajectory
    joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]

My launch file is as mentioned below:-

<launch>
<!-- The planning and execution components of MoveIt! configured to run -->
<!-- using the ROS-Industrial interface. -->
<!-- Non-standard joint names:
- Create a file [robot_moveit_config]/config/joint_names.yaml
controller_joint_names: [joint_1, joint_2, ... joint_N]
- Update with joint names for your robot (in order expected by rbt controller)
- and uncomment the following line: -->

<rosparam command="load" file="/home/ash/catkin_ws/src/staubli_experimental/tx2_60_moveit_config/config/joint_names.yaml"/> 

<!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
<!-- - if sim=false, a robot_ip argument is required -->
<arg name="sim" default="true" />
<arg name="robot_ip" unless="$(arg sim)" />

<!-- load the robot_description parameter before launching ROS-I nodes -->
<include file="/home/ash/catkin_ws/src/staubli_experimental/tx2_60_moveit_config/launch/planning_context.launch" >
<arg name="load_robot_description" value="true" />
</include>
<!-- run the robot simulator and action interface nodes -->
<group if="$(arg sim)">
<!-- <include file="/home/ash/catkin_ws/src/staubli_experimental/tx2_60_moveit_config/launch/robot_interface_simulator.launch"
/> -->
</group>

<!-- run the "real robot" interface nodes -->
<!-- - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes
-->
<!-- - replace these calls with appropriate robot-specific calls or launch files -->
<group unless="$(arg sim)">
<include file="/home/ash/catkin_ws/src/staubli_val3_driver/staubli_val3_driver/launch/robot_interface_streaming.launch" >
<arg name="robot_ip" value="$(arg robot_ip)"/>
</include>
</group>
<!-- publish the robot state (tf transforms) -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<include file="/home/ash/catkin_ws/src/staubli_experimental/tx2_60_moveit_config/launch/move_group.launch">
<arg name="publish_monitored_planning_scene" value="true" />
</include>
<include file="/home/ash/catkin_ws/src/staubli_experimental/tx2_60_moveit_config/launch/moveit_rviz.launch">
<arg name="config" value="true"/>
</include>
<include file="/home/ash/catkin_ws/src/staubli_experimental/tx2_60_moveit_config/launch/default_warehouse_db.launch" />
</launch>

Any idea why this issue is occuring ?? Any help from your side would be of great help.

Thanks in advance.