Used the correct value for param moveit_controller_manager
The param moveit_controller_manager in abb_qp_controller/yumi/yumi_moveit_config/launch/extended_simple_moveit_controller_manager.launch.xml
was not correct.
You modified the package moveit_trajectory_interface_controller
and in the moveit_trajectory_interface_controller_plugin_description.xml
you gave it a different name than in my original code. That's why it couldn't find the controllers.
This should solve at least one issue