Modifications for launching UR5e ros_control with new MoveIt! config

I am using the *MoveIt! Setup Assistant* in ROS Kinetic to generate a new MoveIt! configuration with the goal of trying to continuously control a UR5e with a Robotiq 2f-140 gripper, but the configuration is not working as expected. After generating the configuration, I have modifed `my_robot_moveit_config/config/controllers.yaml` according to the instructions according to [ros_control with the ur_modern_driver package](https://github.com/ros-industrial/ur_modern_driver/tree/kinetic-devel#usage) and [GripperCommand](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/controller_configuration/controller_configuration_tutorial.html?highlight=grippercommand#grippercommand-controller-interface), but encounter the warning below before the spawner finshes and [INFO] [1557268989.540753]: Controller Spawner: Waiting for service controller_manager/load_controller [WARN] [1557262201.240509]: Controller Spawner couldn't find the expected controller_manager ROS interface. My `my_robot_moveit_config/launch/ros_controllers.launch` file is the same as created by the Setup Assistant: I have also tried replacing `config/ros_controllers.yaml` with `config/controllers.yaml` according to the `ur_modern_driver` [README.md](https://github.com/ros-industrial/ur_modern_driver/tree/kinetic-devel#usage), but it results in the same behavior. Here is `config/controllers.yaml` for reference: my_robot: # MoveIt-specific simulation settings moveit_sim_hw_interface: joint_model_group: controllers_initial_group_ joint_model_group_pose: controllers_initial_pose_ # Settings for ros_control control loop generic_hw_control_loop: loop_hz: 500 cycle_time_error_threshold: 0.01 # Settings for ros_control hardware interface hardware_interface: joints: - shoulder_pan_joint - shoulder_lift_joint - elbow_joint - wrist_1_joint - wrist_2_joint - wrist_3_joint - finger_joint sim_control_mode: 1 # 0: position, 1: velocity # Publish all joint states # Creates the /joint_states topic necessary in ROS joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 500 controller_list: - name: "" action_ns: gripper type: GripperCommand default: true joints: - finger_joint - name: /pos_based_pos_traj_controller action_ns: follow_joint_trajectory default: True type: FollowJointTrajectory joints: - shoulder_pan_joint - shoulder_lift_joint - elbow_joint - wrist_1_joint - wrist_2_joint - wrist_3_joint pos_based_pos_traj_controller: type: position_controllers/JointTrajectoryController joints: - shoulder_pan_joint - shoulder_lift_joint - elbow_joint - wrist_1_joint - wrist_2_joint - wrist_3_joint constraints: goal_time: 0.6 stopped_velocity_tolerance: 0.05 shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} elbow_joint: {trajectory: 0.1, goal: 0.1} wrist_1_joint: {trajectory: 0.1, goal: 0.1} wrist_2_joint: {trajectory: 0.1, goal: 0.1} wrist_3_joint: {trajectory: 0.1, goal: 0.1} stop_trajectory_duration: 0.5 state_publish_rate: 500 action_monitor_rate: 10 gains: shoulder_pan_joint: p: 100 d: 1 i: 1 i_clamp: 1 shoulder_lift_joint: p: 100 d: 1 i: 1 i_clamp: 1 elbow_joint: p: 100 d: 1 i: 1 i_clamp: 1 wrist_1_joint: p: 100 d: 1 i: 1 i_clamp: 1 wrist_2_joint: p: 100 d: 1 i: 1 i_clamp: 1 wrist_3_joint: p: 100 d: 1 i: 1 i_clamp: 1 What am I doing wrong?