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.