Gazebo and MoveIt! MoveitSimpleControllerManager and sending joint trajectory messages

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Hi

I've been working my way through the MoveIt! tutorials and have been having some problems with the Gazebo integration.

I'm simply trying to plan and execute a command in MoveIt! and have it displayed on the Gazebo simulator, in this case using the Fanuc m10ia model.

I have had to use the MoveItSimpleControllerManager instead of the Pr2controller, (also if any one else is using this I believe there is an error with the spelling, as it is listed as Simple_MoveIt_Controller_Manager and not MoveIt_Simple_Controller_Manager).

Anyway, upon running roslaunch fanuc_m10ia_moveit_config moveit_planning_execution.launch I get any error saying:

[ INFO] [1375734277.680123500, 1255.832000000]: MoveitSimpleControllerManager: Waiting for moveit_simple_controller/follow_joint_trajectory to come up
[ERROR] [1375734283.338320976, 1260.832000000]: MoveitSimpleControllerManager: Action client not connected: moveit_simple_controller/follow_joint_trajectory

Is there some step I have missed, or some node / service I should have started that I am unaware of?

Any help is appreciated.

Cdr