Empyt ros_controllers.yaml with moveit

edit

Greetings, I am trying to create a moveit package with a robotic arm - xarm7_robot.urdf.xacro Link - https://github.com/xArm-Developer/xar..., however everytime I create it I find that my ros_controllers.yaml is empty. I am using ros neotic on Ubuntu 20.04.4 LTS

In addition to this while running the demo.launch for the same file I am getting this error

[ INFO] [1662749951.116599864]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1662749951.116768172]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1662749951.116912701]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1662749951.117060192]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1662749951.117197970]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1662749951.117337495]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1662749951.117356911]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1662749951.117367649]: Using planning request adapter 'Resolve constraint frames to robot links'
[ INFO] [1662749951.117378075]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1662749951.117387436]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1662749951.117396722]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1662749951.117406104]: Using planning request adapter 'Fix Start State Path Constraints'
[ERROR] [1662749951.117858479]: Failed to initialize planning pipeline 'chomp'.