Action client not connected: franka_gripper/gripper_action

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I am trying to test the move_to_start launch file of the franka_ros package. But it failed.

The command used is:

 roslaunch franka_example_controllers move_to_start.launch robot_ip:=xxx.xx.xx.xx

The log is:

    ... logging to /home/bwu/.ros/log/845611ba-90d5-11ec-b517-b496917718d6/roslaunch-robot.ad.europe.naverlabs.com-6864.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: in-order processing became default in ROS Melodic. You can drop the option.
started roslaunch server http://robot.ad.europe.naverlabs.com:35307/

SUMMARY
========

PARAMETERS
* /franka_control/arm_id: panda
* /franka_control/collision_config/lower_force_thresholds_acceleration: [20.0, 20.0, 20.0...
* /franka_control/collision_config/lower_force_thresholds_nominal: [20.0, 20.0, 20.0...
* /franka_control/collision_config/lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
* /franka_control/collision_config/lower_torque_thresholds_nominal: [20.0, 20.0, 18.0...
* /franka_control/collision_config/upper_force_thresholds_acceleration: [20.0, 20.0, 20.0...
* /franka_control/collision_config/upper_force_thresholds_nominal: [20.0, 20.0, 20.0...
* /franka_control/collision_config/upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0...
* /franka_control/collision_config/upper_torque_thresholds_nominal: [20.0, 20.0, 18.0...
* /franka_control/cutoff_frequency: 100
* /franka_control/internal_controller: joint_impedance
* /franka_control/joint_limit_warning_threshold: 0.1
* /franka_control/joint_names: ['panda_joint1', ...
* /franka_control/rate_limiting: True
* /franka_control/realtime_config: enforce
* /franka_control/robot_ip: 172.16.0.1
* /franka_state_controller/arm_id: panda
* /franka_state_controller/joint_names: ['panda_joint1', ...
* /franka_state_controller/publish_rate: 30
* /franka_state_controller/type: franka_control/Fr...
* /generic_hw_control_loop/cycle_time_error_threshold: 0.01
* /generic_hw_control_loop/loop_hz: 300
* /hardware_interface/joints: ['panda_joint1', ...
* /hardware_interface/sim_control_mode: 1
* /joint_state_desired_publisher/rate: 30
* /joint_state_desired_publisher/source_list: ['franka_state_co...
* /joint_state_publisher/rate: 30
* /joint_state_publisher/source_list: ['franka_state_co...
* /move_group/allow_trajectory_execution: True
* /move_group/capabilities: 
* /move_group/controller_list: [{'name': 'positi...
* /move_group/default_planning_pipeline: ompl
* /move_group/disable_capabilities: 
* /move_group/max_range: 5.0
* /move_group/moveit_controller_manager: moveit_simple_con...
* /move_group/moveit_manage_controllers: True
* /move_group/octomap_frame: camera_rgb_optica...
* /move_group/octomap_resolution: 0.025
* /move_group/planning_pipelines/chomp/collision_clearance: 0.2
* /move_group/planning_pipelines/chomp/collision_threshold: 0.07
* /move_group/planning_pipelines/chomp/enable_failure_recovery: False
* /move_group/planning_pipelines/chomp/jiggle_fraction: 0.05
* /move_group/planning_pipelines/chomp/joint_update_limit: 0.1
* /move_group/planning_pipelines/chomp/learning_rate: 0.01
* /move_group/planning_pipelines/chomp/max_iterations: 200
* /move_group/planning_pipelines/chomp/max_iterations_after_collision_free: 5
* /move_group/planning_pipelines/chomp/max_recovery_attempts: 5
* /move_group/planning_pipelines/chomp/obstacle_cost_weight: 1.0
* /move_group/planning_pipelines/chomp/planning_plugin: chomp_interface/C...
* /move_group/planning_pipelines/chomp/planning_time_limit: 10.0
* /move_group/planning_pipelines/chomp/pseudo_inverse_ridge_factor: 1e-4
* /move_group/planning_pipelines/chomp/request_adapters: default_planner_r...
* /move_group/planning_pipelines/chomp/ridge_factor: 0.0
* /move_group/planning_pipelines/chomp/smoothness_cost_acceleration: 1.0
* /move_group/planning_pipelines/chomp/smoothness_cost_jerk: 0.0
* /move_group/planning_pipelines/chomp/smoothness_cost_velocity: 0.0
* /move_group/planning_pipelines/chomp/smoothness_cost_weight: 0.1
* /move_group/planning_pipelines/chomp/start_state_max_bounds_error: 0.1
* /move_group/planning_pipelines/chomp/use_pseudo_inverse: False
* /move_group/planning_pipelines/chomp/use_stochastic_descent: True
* /move_group/planning_pipelines/ompl/hand/planner_configs: ['AnytimePathShor...
* /move_group/planning_pipelines/ompl/jiggle_fraction: 0.05
* /move_group/planning_pipelines/ompl/panda_arm/planner_configs: ['AnytimePathShor...
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/hybridize: True
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/max_hybrid_paths: 24
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/num_planners: 4
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/planners: 
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/shortcut: True
* /move_group/planning_pipelines/ompl/planner_configs/AnytimePathShortening/type: geometric::Anytim...
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/balanced: 0
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/cache_cc: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/extended_fmt: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/heuristics: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/nearest_k: 1
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/num_samples: 1000
* /move_group/planning_pipelines/ompl/planner_configs/BFMT/optimality: 1
* /move_group/planning_pipelines/ompl/planner_configs ...