Low-level differences between jointTrajectoryController and jointGroupPositionController

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Hi everyone,

I'm having problem when running servoing of a robotic manipulator. I can't find adequate explanation which could explain my difficulties. When running robotic arm with MoveIt!, e.g. when I use jointTrajectoryController, arm executes motion perfectly (schunk lwa4p), which could imply that position commands sent to each joint arrive correctly. However, when I use jointGroupPositionController (which works in Gazebo), real arm moves only some joints and not all of them. I'm wondering how could I discover/figure out low-level differences between jointTrajectoryController and jointGroupPositionController?

Thank you for your time, Have a nice weekend.