Moveit with Gazebo - FollowJointTrajectory does not work

Hello developers! I'm using Manipulator-H from Robotis [github](https://github.com/ROBOTIS-GIT/ROBOTIS-MANIPULATOR-H) and I'm trying to create a go to goal in gazebo using moveit. By now I made: - Created with moveit setup assistant the package - Control it in RViz using Plan and Execute But my problem is connect to moveit with gazebo. I'm trying to use FollowJointTrajectory without sucess... The **ERRORS** change between: - **Failed to load mh_arm_controller** OR - **Could not load controller 'mh_arm_controller' because the type was not specified. Did you load the controller configuration on the parameter server (namespace: '/robotis_manipulator_h/mh_arm_controller')?** PS: I listed those two errors most because when I solved one, the other appears. I will present now the solutions that I tried: - I followed this tutorial and created my own yaml and launch files with a different pipeline (because the files created by moveit setup assistant does not work by the same error): [low level controllers moveit](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/controller_configuration/controller_configuration_tutorial.html) - Checked import packages for ros control following this video: [Which ROS controllers required for PR2 ?](https://www.youtube.com/watch?v=VWFDwkgZLC8) - Try this other tutorial [How to control a Gazebo simulated robot with MoveIt!](http://www.theconstructsim.com/control-gazebo-simulated-robot-moveit-video-answer/) but my **error** now changes to: **MoveItSimpleControllerManager: Action client not connected** - Already looked those solutions too: [link1](https://answers.ros.org/question/227462/ros_control-fails-couldnt-find-the-expected-controller_manager/), [gazebo controller spawner warming](https://answers.ros.org/question/214712/gazebo-controller-spawner-warning/) and so on... - Uninstalled ros a installed again I think the problem are between: **namespace** or **FollowJointTrajectory** most because the ROBOTIS provide a position controller that works properly (I tried to follow the codes model without sucess). I already install every single controller in ros even pr2 controller (I really don't know what is FollowJointTrajectory in google). **WHAT I MADE SO FAR (REMEMBER THAT I TRIED OTHERS FORMATS, BUT THIS IS THE MAIN PIPELINE THAT I TRIED 90% OF THE TIME):** 1 - Create a package for manipulator-h in moveit, adding FollowJointTrajectory 2 - manipulator_h_description folder has the manipulator_h.gazebo that I did not change. You can find where the piece of code: /robotis_manipulator_hgazebo_ros_control/DefaultRobotHWSim 3 - moveit setup assistant created **ros_controllers_yaml** robotis_manipulator_h: # 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: 300 cycle_time_error_threshold: 0.01 # Settings for ros_control hardware interface hardware_interface: joints: - joint1 - joint2 - joint3 - joint4 - joint5 - joint6 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: 50 controller_list: - name: mh_arm_controller action_ns: follow_joint_trajectory default: True type: FollowJointTrajectory joints: - joint1 - joint2 - joint3 - joint4 - joint5 - joint6 - world_fixed **ros_controllers.launch** **PS: In this launch, I just changed ns from robotis_manipulator_h to /robotis_manipulator_h.** 4 - After this, in gazebo launch called **manipulator_h_gazebo.launch** I insert the controller as shown: 5 - launch the previous launch and get error! PS: I commented both original controllers (position and effort) from robotis. So my doubt are: - Where I can learn FollowJointTrajectory type (package? is a pr2 controller?) - Could be the namespace? where he is defined beside those files? What can I try more to have sucess in my task? **Using ROS-KINETIC & UBUNTU 16.04**