I've been trying to follow [this tutorial](http://www.wilselby.com/research/ros-integration/3d-mapping-navigation) to integrate quadcopters into MoveIt!

I need help trying to execute paths. I think I've done everything right till where I do the launch. When I launch, the RVIZ pops up and the quadcopter appears. Then I press 'plan' on the rviz and I can see a shadow moving from where my quadcopter is to where I want it to be (my goal). The problem is when I press 'execute', to actually go to the goal, I have the following errors:

> 
> [ERROR]: Unable to identify any set of controllers that can actuate the specified joints: [ virtual\_joint ]
> 
> 
> [ERROR]: Known controllers and their joints:  
> 
> *In which appears none, or it doesn't have any known controllers*
> 
> 
> 

And then I get the following info:

> 
> [INFO]: ABORTED: Solution found but controller failed during execution
> 
> 
> 

I've tried searching online for this error, but I don't seem to find a solution. Can someone help me?
Thanks in advance.