Could not find joint 'arm_joint_1' in 'hardware_interface::EffortJointInterface' for Youbot in Gazebo

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Hi Everyone,

I've been following this tutorial on MoveIt about integrating a working URDF into Gazebo and MoveIt.

I have been attempting to do this with a Kuka Youbot for quite a while now but to no avail. I followed the MoveIt setup, and I am able to get the YouBot planning in RViz, but whenever I run it in Gazebo, I get this error:

[INFO] [1633437053.271865, 0.559000]: Loading controller: youbot_hand_controller
[ERROR] [1633437053.309964908, 0.597000000]: Could not find joint 'gripper_finger_joint_l' in 'hardware_interface::PositionJointInterface'.
[ERROR] [1633437053.310036228, 0.597000000]: Failed to initialize the controller
[ERROR] [1633437053.310062332, 0.597000000]: Initializing controller 'youbot_hand_controller' failed
[ERROR] [1633437054.310560, 1.596000]: Failed to load youbot_hand_controller

Alongside this error for each joint:

[ERROR] [1633437052.986614137, 0.361000000]: No valid hardware interface element found in joint 'arm_joint_1'.
[ERROR] [1633437052.986623544, 0.361000000]: Failed to load joints for transmission 'arm_trans_1'.

Here is my launch file, it successfully spawns in my youbot, with an intel Realsense D435i mounted to the hand :

<launch>

    <arg name="gui" default="true" />

    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(find youbot_gazebo)/worlds/empty_room.world"/>
        <arg name="debug" value="false" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="false"/>
        <arg name="use_sim_time" value="true"/>
        <arg name="headless" value="false"/>
    </include>

  <!-- spawn general model for the youbot -->
  <arg name="youbot_model" default="$(find youbot_description)/robots/youbot.urdf.xacro" />
  <param name="youbot_description" command="$(find xacro)/xacro $(arg youbot_model)" />

  <!-- Add the Intel realsense to the UR5 End Effector -->
  <param name="robot_description" command="$(find xacro)/xacro  '$(find youbot_description)/urdf/youbot_arm/realsense.urdf.xacro' use_nominal_extrinsics:=true" />

  <!-- push camera to gazebo -->
  <node name="spawn_camera" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model youbot -x 0 -y 0 -z 0" respawn="false" output="screen" />

  <include file="$(find youbot_moveit_config)/launch/ros_controllers.launch"/>

</launch>

The ros controller launch file is here:

<?xml version="1.0"?>
<launch>

   <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find youbot_moveit_config)/config/ros_controllers.yaml" command="load"/>

  <!-- Load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" args="joint_state_controller youbot_hand_controller youbot_arm_controller"
/>

</launch>

And finally, here is my YAML file:

# MoveIt-specific simulation settings
moveit_sim_hw_interface:
    joint_model_group: controllers_initial_group_
    joint_model_group_pose: controllers_initial_pose_
# Settings for ros_control control loop
generic_hw_control_loop:
    loop_hz: 300
    cycle_time_error_threshold: 0.01
# Settings for ros_control hardware interface
hardware_interface:
    joints:
        - virtual_joint
        - arm_joint_1
        - arm_joint_2
        - arm_joint_3
        - arm_joint_4
        - arm_joint_5
        - gripper_finger_joint_l
        - gripper_finger_joint_r
        - wheel_joint_bl
        - wheel_joint_br
        - wheel_joint_fl
        - wheel_joint_fr
    sim_control_mode: 1  # 0: position, 1: velocity
# Publish all joint states
# Creates the /joint_states topic necessary in ROS
joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50
youbot_arm_controller:
    type: effort_controllers/JointTrajectoryController
    joints:
        - arm_joint_1
        - arm_joint_2
        - arm_joint_3
        - arm_joint_4
        - arm_joint_5
    gains:
        arm_joint_1: { p: 12000, d: 50, i: 0.0, i_clamp: 10000 }
        arm_joint_2: { p: 30000, d: 100, i: 0.02, i_clamp: 10000 }
        arm_joint_3: { p: 18000, d: 50, i: 0.01, i_clamp: 1 }
        arm_joint_4: { p: 7000, d: 50, i: 0.01, i_clamp: 1 ...