Unable to identify any set of controllers that can actuate the specified joints: [ panda_joint1 panda_joint2 panda_joint3 panda_joint4 panda_joint5 panda_joint6 panda_joint7 ] [ERROR]:Known controllers and their joints:

[qyp-robot]

Hello!
When I use moveit and gazebo co-simulation, when I use the position controller, the trajectory planned in moveit, gazebo can execute normally. But when I use the effort controller, the terminal reports an error as follows:

Of course, when I replaced the effort controller, I completely configured it according to the position controller method. I don’t know where the problem is or whether I need to add other things. When I consulted others before, some people said that moveit is based on location. In the servo system, the position controller can run normally, but the effort controller needs to write a client. Is this the right solution? If so, how do I write the client? He is very important to me!

Looking forward to your answers, thank you very much!