Action client not connected when using MoveIt! with a real robot

Hi, I am on Ubuntu 16.04 LTS and ROS Kinetic. Since I can use MoveIt! with Gazebo, I am now trying to use MoveIt! with a real the real robot. My main goal is to control a Robotis Manipulator-H that is standing on top of a Husky robot. My launch file for running MoveIt! in the Gazebo simulation is the following: [/robotis_manipulator_h/joint_states] Right now, my launch file for the real robot is the following: 125"/robotis_manipulator_h/joint_states""/controller_joint_states"[/robotis_manipulator_h/joint_states] Right now I can execute this launch file, while connected to the robot via USB, and I can also launch the "moveit_rviz.launch" file from my MoveIt! package and I can see that RViz can successfully recognize my joint positions and print the correctly (print the correct postiion of the manipulator in the RViz simulator). The problem that I am having right now is that my MoveIt! controller isn't being launched and I don't know why. Whenever I start the simulation, I get the following messages: > [ WARN] [1523535592.190816672]: Waiting for robotis_manipulator_h/main_group_controller/follow_joint_trajectory to come up> [ WARN] [1523535598.191072235]:> Waiting for> robotis_manipulator_h/main_group_controller/follow_joint_trajectory> to come up> [ERROR] [1523535604.191255928]: Action> client not connected:> robotis_manipulator_h/main_group_controller/follow_joint_trajectory It takes like 2 seconds for a warning to appear and it also takes 2 seconds between both warnings. After the second warning, the error appears right away. While the warnings appear, I checked for the rostopics and I get that I have variants of the "robotis_manipulator_h/main_group_controller/follow_joint_trajectory" topics, just like they used to appear in Gazebo: > /robotis_manipulator_h/main_group_controller/follow_joint_trajectory/cancel> /robotis_manipulator_h/main_group_controller/follow_joint_trajectory/feedback> /robotis_manipulator_h/main_group_controller/follow_joint_trajectory/goal> /robotis_manipulator_h/main_group_controller/follow_joint_trajectory/result> /robotis_manipulator_h/main_group_controller/follow_joint_trajectory/status However, after the error appears, I checked for my topics and the ones above suddenly disappeared. I think that this is the main reason why I can't make and execute plans in the RViz window that I launched. The "robotis_controller" package is calling a node that is different from the original nodes that come with this package, when downloaded from Robotis's Github repository. This node was used previously by other person (that wasn't using MoveIt!) and I think that the problem doesn't come from there. Still, I am sure that the "publish_joint_topic_name" topic name is correct, but I am not sure about the "subscribe_joint_topic_name" (right now it has its default value). Can somebody help me one this one? Thanks in advance! Best regards, José Brito