Different starting positions in Rviz and Gazebo

I have made my own UR5 config pkg using Setup Assistant since I want to understand the whole process inside out. I am able to plan paths in Rviz. Initially I had problems loading the controllers (`ERROR : Failed to load arm_controller`) in Gazebo, but I solved the issue yesterday. Now I am having issues with moving the arm. At init, the robot has different starting positions in [Gazebo](http://imgur.com/lpsBbw3) (starting position is random) and [Rviz](http://imgur.com/QQrBlp2) (all joints start at 0). I can plan the path and visualize the plan in Rviz and see the robot moving in Gazebo as well (in Gazebo, the robot forces itself to come to 0 position before following the trajectory) and then I get the error : Controller arm_controller failed with error code PATH_TOLERANCE_VIOLATED Controller handle arm_controller reports status ABORTED This is my launch file : While the trajectory is being executed, `rostopic echo /joint_states` doesn't show updated joint values but always 0. **Edit 1:** As expected, I was not publishing the joint_states. I added `joint_state_controller/JointStateController` in my control_ur5.yaml and now the starting pose in Rviz is same as Gazebo. But now I see a weird behavior https://youtu.be/q9KEwDEx3-E And if I try to plan a path in Rviz, I get the following list of errors ; [ INFO] [1465305485.140122471, 25.980000000]: Planning attempt 1 of at most 1 [ INFO] [1465305485.140246091, 25.980000000]: Starting state is just outside bounds (joint 'ur5_arm_wrist_2_joint'). Assuming within bounds. [ INFO] [1465305485.141022068, 25.980000000]: Found a contact between 'ur5_arm_forearm_link' (type 'Robot link') and 'r_gripper_r_finger_link' (type 'Robot link'), which constitutes a collision. Contact information is not stored. [ INFO] [1465305485.141057797, 25.980000000]: Collision checking is considered complete (collision was found and 0 contacts are stored) [ INFO] [1465305485.141094384, 25.980000000]: Start state appears to be in collision with respect to group ur5_arm [ WARN] [1465305485.245093353, 26.060000000]: Unable to find a valid state nearby the start state (using jiggle fraction of 0.050000 and 100 sampling attempts). Passing the original planning request to the planner. [ WARN] [1465305485.248167133, 26.061000000]: ur5_arm[RRTConnectkConfigDefault]: Skipping invalid start state (invalid state) [ERROR] [1465305485.248314594, 26.061000000]: ur5_arm[RRTConnectkConfigDefault]: Motion planning start tree could not be initialized! [ INFO] [1465305485.257780607, 26.069000000]: Unable to solve the planning problem [ INFO] [1465305485.286582422, 26.095000000]: ABORTED: No motion plan found. No execution attempted. [ WARN] [1465305852.247270371, 368.000000000]: Unable to find a random collision free configuration after 100 attempts