because controller type JointTrajectoryController' does not exist.

[ERROR] [1563078759.930994296, 0.306000000]: Could not load controller 'gripper_joint_controller' because controller type 'position_controllers/JointTrajectoryController' does not exist.
[ERROR] [1563078759.931511973, 0.306000000]: Use 'rosservice call controller_manager/list_controller_types' to get the available types
[ERROR] [1563078760.934616, 0.535000]: Failed to load gripper_joint_controller

解决方案：

https://answers.ros.org/question/254084/gazebo-could-not-load-controller-jointtrajectorycontroller-does-not-exist-mastering-ros-chapter-10/

EDIT1: I changed some urdf files because I had same issue as here

UPD: I've resolved it by installing all available controllers: sudo apt-get install ros*controller*

I know, it is not the right way, but somehow I couldn't find anywhere that I can install joint controller itself sudo apt-get ros-kinetic-joint-trajectory-controller. Maybe it was too obvious. I found it in the new packages list when I ran the command above.