Problem initializing controller for ur_gazebo

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Ubuntu 20.04, noetic , ros1 According to the following link:

"http://wiki.ros.org/ur_gazebo"

for simulation of gazebo arm and controller following command is used:

"$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true"

but the following error occures:

I have tried rebuilding catkin_ws, using: "catkin_make clean", "catkin_make" & "catkin_make install"

I have used the "rospack find" to find packages used for controller all are present please guide how to resolve this issue.

Thanks