Hi all!
I tried to communicate with the real UR5 hardware and I was able to move the robot running "test_move.py" from the "ur_modern_driver package". After that I tried to move the robot with MoveIt! following this tutorial: [Getting Started with a Universal Robot and ROS-Industrial](http://wiki.ros.org/universal_robot/Tutorials/Getting%20Started%20with%20a%20Universal%20Robot%20and%20ROS-Industrial).
Problems arise when launching this command:
roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch limited:=true
In the terminal the following lines appear:
[ WARN] [1529329845.474785699]: Waiting for /joint_trajectory_action to come up
[ WARN] [1529329851.474995251]: Waiting for /joint_trajectory_action to come up
[ERROR] [1529329857.475168563]: Action client not connected: /joint_trajectory_action
So that when i launch MoveIt (by typing `roslaunch ur5_moveit_config moveit_rviz.launch config:=true`) to try planning and execution, the planning is ok but the execution never works. And the same is with using the limited version (`limited:=true`).
If I go into the controllers.yaml file and I change `action_ns` from `joint_trajectory_action` to `follow_joint_trajectory` the execution still doesn't work, but the WARNS and the ERROR above does not appear anymore.
Thanks in advance to anyone who will help solving this.
My Ubuntu version: 16.04 ROS Kinetic
edit: here is the output I get when i "roslaunch" the driver
roslaunch ur_modern_driver ur5_bringup.launch limited:=true robot_ip:=192.168.0.9
started roslaunch server http://Kazar:40451/
SUMMARY
========
PARAMETERS
* /robot_description:
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