Ask to advise on Dobot cr5 robot which cannot use with moveit servo package

[KingAthipat]

Good evening, my name is King.

I would like to do the research into the robotic manipulator. To run the software, I use Robot Operating System ( ROS ) in Noetic version
with Dobot cr5 robot for controling of the real robot.
For my objective, I want to control the end effector of the Dobot cr5 robot with force sensor 6-axises force/torque sensor in real time mode by using Moveit Servo package which in Moveit package.
Just now, I have some problems with the Dobot cr5 robot which cannot add ROS-Control controller.
Usually, when we use Moveit servo, we have to add the new controller for working together.

from error in the picture it added the new controller under the name " cr5_robot/joint_group_position_controller "
But it shows " [ERROR] [1714038940.563340748]: Action client not connected: cr5_robot/joint_group_position_controller/follow_joint_trajectory "
and cannot use " rosservice call /controller_manager/switch_controller "

• Details of adding a controller
  Added a controller named "cr5_robot/joint_group_position_controller" to the ros_controller.yaml file.

The joint_controller and joint_group_position_controller parameters have been added to the ros_controllers.launch file.

rostopic list only found a controller named "cr5_robot/joint_controller".

Please you give me some advises so that I can continue to work. Thank you for you kindness.
email : [email protected]