I'm trying to move a robot(Yaskawa SIA20) in gazebo simulation with moveit.
I made a robot with gripper as follows.
As the above picture shows, I tried to control with rviz through moveit.
But, the robot didn't move in gazebo.
And I realized following error.
```
[ERROR] [1545806649.874672718, 17.175000000]: Action client not connected: /sia20/sia20_joint_controller/follow_joint_controller
```
I think that this error is a hint to solve my problem.
Although this error has been asked sometimes in ros-ansers, but, those existing answers could not help me.
Please tell what I forget and how to solve this problem.
- [whole error message(copy of terminal)](https://github.com/harumo11/sia20/blob/master/error.html)
- [launch file](https://github.com/harumo11/sia20/blob/master/sia20_with_gripper_moveit_config/launch/sia20_with_gripper_moveit.launch)
- [controllers.yaml](https://github.com/harumo11/sia20/blob/master/sia20_with_gripper_moveit_config/config/controllers.yaml)
- [moveit_controller_manager.launch.xml](https://github.com/harumo11/sia20/blob/master/sia20_with_gripper_moveit_config/launch/sia20_moveit_controller_manager.launch.xml)
- [controller.yaml](https://github.com/harumo11/sia20/blob/master/sia20_control/config/sia20_with_gripper_control.yaml)
- [package repository](https://github.com/harumo11/sia20)
- If you need more information, let me know. I'll tell you soon.
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