Hey!
For my [GSoC 2018](https://summerofcode.withgoogle.com/projects/#6587806298669056) project, I had previously attached a Kinect sensor to the UR5 robot, generated MoveIt! Config packages for them and tested it on RViz. I was able to spawn the robot with the controllers activated in Gazebo. The next step of my project was to be able to command the robot in Gazebo using MoveIt!.
In this process of trying to launch the robot in Gazebo, I noticed that the arm_controller/joint_trajectory topics which are related to the **action server** are not being displayed while using **rostopic list**. However, the weird part is that on launch, the initial information from the terminal shows that the arm_controller_spawner node has started. [This link](https://github.com/ros-industrial/universal_robot/issues/281) had a related solution but it didn't work.
I previously downloaded the [Universal robot Github package](https://github.com/ros-industrial/universal_robot) and the **ur5.launch** file loads the required arm_controller.joint_trajectory topics properly. However, that same thing was not working with my files (which are minor edits of the UR5 files). I am not able to figure out why exactly is this happening. I have attached the related files with this question. Thanks in advance.
Edit: While comparing with the UR5 launch, I realised that the arm_controller and joint_state_controller are not loaded successfully with my model as that message is not showing on the terminal with Gazebo launch.
The complete URDF file can be accessed via this [Google Drive Link.](https://drive.google.com/open?id=1bgAlqDw-e1aMt0ITg5Imstc4YLksiRFR)
**Gazebo Robot Launch file**
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