Moveit failed to find the robot model when using manual moveit configuration

I'm facing an issue on moveit when I try to manually configure the robot model in moveit. I'm getting errors in the robot model when trying to launch moveit launch file in the following sequence below and I mimic joint 4 in the opposite direction to perform a grasp using a gripper in my robot model. Here is my GitHub repo

This is my output in the terminal when I run in a sequence gazebo.launch.py, controller.launch.py followed by moveit.launch.py.

damarla@damarla:~/ros2control$ ros2 launch arm_robot_moveit moveit.launch.py 
[INFO] [launch]: All log files can be found below /home/damarla/.ros/log/2023-09-06-17-00-22-607579-damarla-11097
[INFO] [launch]: Default logging verbosity is set to INFO
WARNING:root:Cannot infer URDF from `/home/damarla/ros2control/install/arm_robot_moveit/share/arm_robot_moveit`. -- using config/arm_robot.urdf
WARNING:root:Cannot infer SRDF from `/home/damarla/ros2control/install/arm_robot_moveit/share/arm_robot_moveit`. -- using config/arm_robot.srdf
[INFO] [move_group-1]: process started with pid [11102]
[INFO] [rviz2-2]: process started with pid [11104]
[rviz2-2] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[move_group-1] [INFO] [1694012423.431871548] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0 seconds
[move_group-1] [INFO] [1694012423.433388806] [moveit_robot_model.robot_model]: Loading robot model 'arm_robot'...
[move_group-1] [INFO] [1694012423.434358278] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[move_group-1] [INFO] [1694012423.865155745] [moveit_kinematics_base.kinematics_base]: Using position only ik
[move_group-1] [INFO] [1694012425.260442551] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Publishing maintained planning scene on 'monitored_planning_scene'
[move_group-1] [INFO] [1694012425.260720014] [moveit.ros_planning_interface.moveit_cpp]: Listening to 'joint_states' for joint states
[move_group-1] [INFO] [1694012425.262647894] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[move_group-1] [INFO] [1694012425.263455907] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/attached_collision_object' for attached collision objects
[move_group-1] [INFO] [1694012425.263483366] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting planning scene monitor
[move_group-1] [INFO] [1694012425.264933042] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to '/planning_scene'
[move_group-1] [INFO] [1694012425.264966412] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Starting world geometry update monitor for collision objects, attached objects, octomap updates.
[move_group-1] [INFO] [1694012425.265801550] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'collision_object'
[move_group-1] [INFO] [1694012425.266665953] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: Listening to 'planning_scene_world' for planning scene world geometry
[move_group-1] [WARN] [1694012425.267298621] [moveit.ros.occupancy_map_monitor.middleware_handle]: Resolution not specified for Octomap. Assuming resolution = 0.1 instead
[move_group-1] [ERROR] [1694012425.267328149] [moveit.ros.occupancy_map_monitor.middleware_handle]: No 3D sensor plugin(s) defined for octomap updates
[move_group-1] [ERROR] [1694012425.381326649] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012425.574183704] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [INFO] [1694012427.898257942] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'pilz_industrial_motion_planner'
[move_group-1] [ERROR] [1694012427.899235651] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.899962334] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900000829] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900025056] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900047270] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900069015] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900110126] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900134147] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900205442] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900238005] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900260457] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900281975] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900303337] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900324611] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012427.900346972] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [INFO] [1694012427.914311507] [moveit.pilz_industrial_motion_planner.joint_limits_aggregator]: Reading limits from namespace robot_description_planning
[move_group-1] [INFO] [1694012427.929095164] [moveit.pilz_industrial_motion_planner]: Available plugins: pilz_industrial_motion_planner/PlanningContextLoaderCIRC pilz_industrial_motion_planner/PlanningContextLoaderLIN pilz_industrial_motion_planner/PlanningContextLoaderPTP 
[move_group-1] [INFO] [1694012427.929129872] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderCIRC
[move_group-1] [INFO] [1694012427.935363709] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [CIRC]
[move_group-1] [INFO] [1694012427.935999212] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderLIN
[move_group-1] [INFO] [1694012427.938983840] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [LIN]
[move_group-1] [INFO] [1694012427.939539179] [moveit.pilz_industrial_motion_planner]: About to load: pilz_industrial_motion_planner/PlanningContextLoaderPTP
[move_group-1] [INFO] [1694012427.942555583] [moveit.pilz_industrial_motion_planner]: Registered Algorithm [PTP]
[move_group-1] [INFO] [1694012427.943143147] [moveit.ros_planning.planning_pipeline]: Using planning interface 'Pilz Industrial Motion Planner'
[move_group-1] [INFO] [1694012427.949306191] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'chomp'
[move_group-1] [ERROR] [1694012427.951833312] [moveit.ros_planning.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner
[move_group-1] [INFO] [1694012427.961000062] [moveit_ros.fix_workspace_bounds]: Param 'chomp.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1694012427.961832365] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1694012427.962377647] [moveit_ros.fix_start_state_bounds]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1694012427.962963161] [moveit_ros.fix_start_state_collision]: Param 'chomp.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1694012427.963561446] [moveit_ros.fix_start_state_collision]: Param 'chomp.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1694012427.964080448] [moveit_ros.fix_start_state_collision]: Param 'chomp.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1694012427.964931502] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-1] [INFO] [1694012427.965812754] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1694012427.968255337] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1694012427.968278133] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1694012427.968284304] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1694012427.968290491] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [ERROR] [1694012427.978163778] [moveit.ros_planning_interface.moveit_cpp]: Failed to initialize planning pipeline 'chomp'.
[move_group-1] [INFO] [1694012427.984607682] [moveit.ros_planning_interface.moveit_cpp]: Loading planning pipeline 'ompl'
[move_group-1] [ERROR] [1694012428.017916006] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [INFO] [1694012428.115319535] [moveit.ros_planning.planning_pipeline]: Using planning interface 'OMPL'
[move_group-1] [INFO] [1694012428.119716411] [moveit_ros.fix_workspace_bounds]: Param 'ompl.default_workspace_bounds' was not set. Using default value: 10.000000
[move_group-1] [INFO] [1694012428.120413441] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_bounds_error' was set to 0.100000
[move_group-1] [INFO] [1694012428.120878620] [moveit_ros.fix_start_state_bounds]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1694012428.121226722] [moveit_ros.fix_start_state_collision]: Param 'ompl.start_state_max_dt' was not set. Using default value: 0.500000
[move_group-1] [INFO] [1694012428.121546516] [moveit_ros.fix_start_state_collision]: Param 'ompl.jiggle_fraction' was set to 0.050000
[move_group-1] [INFO] [1694012428.121859004] [moveit_ros.fix_start_state_collision]: Param 'ompl.max_sampling_attempts' was not set. Using default value: 100
[move_group-1] [INFO] [1694012428.122177815] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-1] [INFO] [1694012428.122500968] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-1] [INFO] [1694012428.122855972] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-1] [INFO] [1694012428.123218650] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-1] [INFO] [1694012428.123578251] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-1] [INFO] [1694012428.123946388] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'
[move_group-1] [ERROR] [1694012428.191827479] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [FATAL] [1694012428.218998432] [moveit_ros.trajectory_execution_manager]: Exception while loading controller manager 'moveit_simple_controller/MoveItSimpleControllerManager': According to the loaded plugin descriptions the class moveit_simple_controller/MoveItSimpleControllerManager with base class type moveit_controller_manager::MoveItControllerManager does not exist. Declared types are  moveit_simple_controller_manager/MoveItSimpleControllerManager
[move_group-1] [ERROR] [1694012428.219724910] [moveit_ros.trajectory_execution_manager]: Failed to reload controllers: `controller_manager_` does not exist.
[move_group-1] [INFO] [1694012428.221761439] [moveit_ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[move_group-1] [INFO] [1694012428.223782146] [move_group.move_group]: MoveGroup debug mode is ON
[move_group-1] [INFO] [1694012428.307856730] [move_group.move_group]: 
[move_group-1] 
[move_group-1] ********************************************************
[move_group-1] * MoveGroup using: 
[move_group-1] *     - ApplyPlanningSceneService
[move_group-1] *     - ClearOctomapService
[move_group-1] *     - CartesianPathService
[move_group-1] *     - ExecuteTrajectoryAction
[move_group-1] *     - GetPlanningSceneService
[move_group-1] *     - KinematicsService
[move_group-1] *     - MoveAction
[move_group-1] *     - MotionPlanService
[move_group-1] *     - QueryPlannersService
[move_group-1] *     - StateValidationService
[move_group-1] ********************************************************
[move_group-1] 
[move_group-1] [INFO] [1694012428.308015960] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[move_group-1] [INFO] [1694012428.308038801] [moveit_move_group_capabilities_base.move_group_context]: MoveGroup context initialization complete
[move_group-1] Loading 'move_group/ApplyPlanningSceneService'...
[move_group-1] Loading 'move_group/ClearOctomapService'...
[move_group-1] Loading 'move_group/MoveGroupCartesianPathService'...
[move_group-1] Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[move_group-1] Loading 'move_group/MoveGroupGetPlanningSceneService'...
[move_group-1] Loading 'move_group/MoveGroupKinematicsService'...
[move_group-1] Loading 'move_group/MoveGroupMoveAction'...
[move_group-1] Loading 'move_group/MoveGroupPlanService'...
[move_group-1] Loading 'move_group/MoveGroupQueryPlannersService'...
[move_group-1] Loading 'move_group/MoveGroupStateValidationService'...
[move_group-1] 
[move_group-1] You can start planning now!
[move_group-1] 
[move_group-1] [ERROR] [1694012428.345117932] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012428.481281894] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012428.581690115] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012428.690183074] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012428.806492246] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012428.928206957] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012429.069404377] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012429.234023061] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012429.362592711] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012429.495362228] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012429.602467505] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012429.725921759] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012429.856541282] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012429.977396568] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012430.090659941] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012430.203335063] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012430.323374128] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012430.433809989] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012430.549070609] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012430.784446826] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012430.905078852] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012431.018402346] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012431.142214877] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012431.251748896] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012431.365726843] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012431.499175785] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012431.631390811] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012431.752993154] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012431.861795521] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012431.968442148] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012432.092238312] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012432.208372721] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012432.322000701] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
[move_group-1] [ERROR] [1694012432.442328421] [moveit_robot_model.robot_model]: Joint 'joint_5_mimic' not found in model 'arm_robot'
Thanks in Advance Adithya