Loader for controller 'robotiq_activation_controller' (type 'robotiq_controllers/RobotiqActivationController') not found.

[tajish]

When I try to configure and action the robotiqActivationController using gazebo, it throws an error saying:

Loader for controller 'robotiq_activation_controller' (type 'robotiq_controllers/RobotiqActivationController') not found.

And from the controller launch file it shows:

Failed loading controller robotiq_activation_controller

this is my controller.yaml file:

controller_manager:
ros__parameters:
update_rate: 10 # Hz

joint_state_broadcaster:
  type: joint_state_broadcaster/JointStateBroadcaster

joint_trajectory_controller:
  type: joint_trajectory_controller/JointTrajectoryController

robotiq_gripper_controller:
  type: position_controllers/GripperActionController

robotiq_activation_controller:
  type: robotiq_controllers/RobotiqActivationController

joint_trajectory_controller:
ros__parameters:
joints:
- shoulder_pan_joint
- shoulder_lift_joint
- elbow_joint
- wrist_1_joint
- wrist_2_joint
- wrist_3_joint
command_interfaces:
- position
state_interfaces:
- position
state_publish_rate: 100.0
action_monitor_rate: 20.0
allow_partial_joints_goal: false
constraints:
stopped_velocity_tolerance: 0.2
goal_time: 0.0
shoulder_pan_joint: { trajectory: 0.2, goal: 0.1 }
shoulder_lift_joint: { trajectory: 0.2, goal: 0.1 }
elbow_joint: { trajectory: 0.2, goal: 0.1 }
wrist_1_joint: { trajectory: 0.2, goal: 0.1 }
wrist_2_joint: { trajectory: 0.2, goal: 0.1 }
wrist_3_joint: { trajectory: 0.2, goal: 0.1 }

robotiq_gripper_controller:
ros__parameters:
default: true
joint: robotiq_85_left_knuckle_joint
use_effort_interface: true
use_speed_interface: true

robotiq_activation_controller:
ros__parameters:
default: true

And this is the launch file I am using:

from launch import LaunchDescription
from launch_ros.actions import Node
import os
from launch_ros.parameter_descriptions import ParameterValue
from launch.substitutions import Command
from ament_index_python.packages import get_package_share_directory
import launch_ros

def generate_launch_description():

robot_description = ParameterValue(
    Command(
        [
            "xacro ",
            os.path.join(get_package_share_directory("ur5_robot_description"),"urdf","ur5_gripper_main.xacro")
        ]
    ),
    value_type=str
)

robot_state_publisher_node = Node(
    package="robot_state_publisher",
    executable="robot_state_publisher",
    parameters=[{
        "robot_description": robot_description,
        "use_sim_time": True
    }]
)

joint_state_broadcaster_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=[
        "joint_state_broadcaster",
        "--controller-manager",
        "/controller_manager"
    ]
)

joint_trajectory_controller_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=[
        "joint_trajectory_controller",
        "--controller-manager",
        "/controller_manager"
    ]
)

robotiq_gripper_controller_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=[
        "robotiq_gripper_controller",
        "--controller-manager",
        "/controller_manager"
    ]
)

robotiq_activation_controller_spawner = Node(
    package="controller_manager",
    executable="spawner",
    arguments=["robotiq_activation_controller", "-c", "/controller_manager"],
)

return LaunchDescription([
    robot_state_publisher_node,
    joint_state_broadcaster_spawner,
    joint_trajectory_controller_spawner,
    robotiq_gripper_controller_spawner,
    robotiq_activation_controller_spawner
])

Please help me out in dealing with it.