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If you look back at the tutorial you are following, you'll see this at the beginning:
We will assume that your robot offers a FollowJointTrajectory action service for the arms on your robot and (optionally) a GripperCommand service for your gripper. If your robot does not offer this we recommend the ROS control framework for easily adding this functionality around your hardware communication layer.
The error you're getting means that MoveIt is correctly trying to find the arm_controller/follow_joint_trajectory action client specified by controller.yaml. You should be good at this point to finish writing your controller, and when it's ready, launch it and have it accept actions at arm_controller/follow_joint_trajectory.
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