MoveIt! with Gazebo, using MoveItSimpleControllerManager, joint_trajectory_controller

Hi, I am trying to use MoveIt! to control a simulated robot in Gazebo, and am at a loss as to how to proceed. The only documentation / tutorial I can find on the subject is [this one](http://picknik.io/moveit_wiki/index.php?title=PR2/Gazebo/Quick_Start), which is 4 years old and works only for a specific robot, that comes with all the necessary controllers. **My understanding so far:** - The MoveItSimpleControllerManager plugin should 'convert' MoveIt! executions to FollowJointTrajectory action calls. I have included the plugin in myrobot_moveit_controller_manager.launch (adapted from the demo.launch generated by the MoveIt! setup assistant) with: - The joint_trajectory_controller from ros_controllers should implement the action server required for the FollowJointTrajectory calls, and actuate the joints in Gazebo accordingly via the libgazebo_ros_control plugin for Gazebo. I am trying to spawn the controller with: **The problem:** When I run the above launch files as well as the Gazebo one (which also uploads the robot description to the param server), I get the following output in the MoveIt! terminal: [FATAL] [1498731799.850090680, 16.100000000]: Parameter '~moveit_controller_manager' not specified. This is needed to identify the plugin to use for interacting with controllers. No paths can be executed. I'm using ROS Indigo with Ubuntu 14.04. Could some-one let me know if my overall understanding is flawed, and what might cause the above error message? Thanks. ---------- **Update:** I fixed the above error message by putting the first set of XML tags inside the namespace of the move_group node, with: ... Now the controller manager seems to be connected, but I get the following error messages. When I start the MoveIt! node: [ERROR] [1498747248.394583362, 16.231000000]: MoveItSimpleControllerManager: Action client not connected: arm_r_controller/follow_joint_trajectory And when I attempt to execute a trajectory: [ERROR] [1498747328.213270503, 70.727000000]: Unable to identify any set of controllers that can actuate the specified joints: [ ... ] It was my understanding that MoveItSimpleControllerManager was the 'action client' - is this wrong?