Controller can't be found but are loaded,Moveit

Hi all, I am trying to add a **barrett hand** to an **abb IRB 120** arm in a **gazebo** simulation and to run the whole thing using **moveit**. I have created a file *abb-barrett.xacro* that combines the description of both robots (find files at the end). I am loading the robot into gazebo as follow: abb_barrett.launch abb_barrett_control.launch abb_barrett_controller.yaml abb_barrett_controller: type: position_controllers/JointTrajectoryController joints: - joint_1 - joint_2 - joint_3 - joint_4 - joint_5 - joint_6 constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 joint_1: {trajectory: 0.1, goal: 0.1} joint_2: {trajectory: 0.1, goal: 0.1} joint_3: {trajectory: 0.1, goal: 0.1} joint_4: {trajectory: 0.1, goal: 0.1} joint_5: {trajectory: 0.1, goal: 0.1} joint_6: {trajectory: 0.1, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 25 action_monitor_rate: 10 barrett_hand_trajectory_controller: type: position_controllers/JointTrajectoryController joints: - finger_1_med_joint - finger_2_med_joint - finger_3_med_joint - finger_1_prox_joint - finger_2_prox_joint state_publish_rate: 100.0 action_monitor_rate: 50.0 constraints: goal_time: 100.0 # Override default finger_1_med_joint: trajectory: 0.01 finger_2_med_joint: trajectory: 0.01 finger_3_med_joint: trajectory: 0.01 finger_1_prox_joint: trajectory: 0.01 finger_2_prox_joint: trajectory: 0.01 finger_1_joint1_position_controller: type: position_controllers/JointPositionController joint: finger_1_med_joint pid: {p: 1.0, i: 0.0, d: 0.0} finger_2_joint1_position_controller: type: position_controllers/JointPositionController joint: finger_2_med_joint pid: {p: 1.0, i: 0.0, d: 0.0} finger_3_joint1_position_controller: type: position_controllers/JointPositionController joint: finger_3_med_joint pid: {p: 1.0, i: 0.0, d: 0.0} finger_1_joint2_position_controller: type: position_controllers/JointPositionController joint: finger_1_prox_joint pid: {p: 1.0, i: 0.0, d: 0.0} finger_2_joint2_position_controller: type: position_controllers/JointPositionController joint: finger_2_prox_joint pid: {p: 1.0, i: 0.0, d: 0.0} Then I am lauching the moveit side of things as follow: with abb_barrett_controller_joint_names.yaml" controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6' ,'finger_1_med_joint','finger_1_prox_joint','finger_2_med_joint','finger_2_prox_joint','finger_3_med_joint'] and controllers.yaml: controller_list: - name: abb_barrett_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - joint_1 - joint_2 - joint_3 - joint_4 - joint_5 - joint_6 - name: finger_1_joint1_position_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - finger_1_med_joint - name: finger_1_joint2_position_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - finger_1_prox_joint - name: finger_2_joint1_position_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - finger_2_med_joint - name: finger_2_joint2_position_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - finger_2_prox_joint - name: finger_3_joint1_position_controller action_ns: follow_joint_trajectory type: FollowJointTrajectory default: true joints: - finger_3_med_joint Everything seems find and I am able to move the arm it self using Rviz. However when trying to control the group corresponding to the hand It get the following error: [ERROR] [1510133470.606385057, 43.138000000]: Unable to identify any set of controllers that can actuate the specified joints: [ finger_1_med_joint finger_1_prox_joint finger_2_med_joint finger_2_prox_joint finger_3_med_joint ] [ERROR] [1510133470.606397269, 43.138000000]: Known controllers and their joints: controller '' controls joints: joint_1 joint_2 joint_3 joint_4 joint_5 joint_6 [ERROR] [1510133470.606407504, 43.138000000]: Apparently trajectory initialization failed The controller seem however to be loaded rosservice call /controller_manager/list_controllers controller: - name: joint_state_controller state: running type: joint_state_controller/JointStateController hardware_interface: hardware_interface::JointStateInterface resources: [] - name: abb_barrett_controller state: running type: position_controllers/JointTrajectoryController hardware_interface: hardware_interface::PositionJointInterface resources: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6'] - name: barrett_hand_trajectory_controller state: running type: position_controllers/JointTrajectoryController hardware_interface: hardware_interface::PositionJointInterface resources: ['finger_1_med_joint', 'finger_1_prox_joint', 'finger_2_med_joint', 'finger_2_prox_joint', 'finger_3_med_joint'] I have tried for a while to solve this but I cannot figure how. Does anybody have any suggestion? Thank you , Thibault. ************************************************************END********************************************************************** abb_barrett_macro.xacro transmission_interface/SimpleTransmissionPositionJointInterface1transmission_interface/SimpleTransmissionPositionJointInterface1transmission_interface/SimpleTransmissionPositionJointInterface1transmission_interface/SimpleTransmissionPositionJointInterface1transmission_interface/SimpleTransmissionPositionJointInterface1transmission_interface/SimpleTransmissionPositionJointInterface1Gazebo/OrangetrueGazebo/OrangetrueGazebo/OrangetrueGazebo/OrangetrueGazebo/OrangetrueGazebo/OrangetrueGazebo/Blacktrue/gazebo_ros_control/DefaultRobotHWSim barrett.xacro transmission_interface/SimpleTransmissionPositionJointInterfacePositionJointInterface1transmission_interface/SimpleTransmissionPositionJointInterfacePositionJointInterface1transmission_interface/SimpleTransmissionPositionJointInterfacePositionJointInterface1transmission_interface/SimpleTransmissionPositionJointInterfacePositionJointInterface10transmission_interface/SimpleTransmissionPositionJointInterfacePositionJointInterface1transmission_interface/SimpleTransmissionPositionJointInterfacePositionJointInterface1transmission_interface/SimpleTransmissionPositionJointInterfacePositionJointInterface1transmission_interface/SimpleTransmissionPositionJointInterfacePositionJointInterface1Gazebo/OrangetrueGazebo/OrangetruetrueGazebo/BlacktrueGazebo/OrangetrueGazebo/OrangetrueGazebo/BlacktrueGazebo/OrangetrueGazebo/BlacktrueGazebo/Orangetrue100.0barrett_base_linkbarrett_palm_pose_ground_truth0 0 00 0 00.0world20402finger_1_prox_linkfinger_2_prox_linkbarrett_base_linkfinger_1_med_jointfinger_1_dist_joint1.0finger_2_med_jointfinger_2_dist_joint1.0finger_3_med_jointfinger_3_dist_joint1.0/true100.0 abb_barrett.xacro