2006 Volvo 780 automatic transmission fault codes

I have a 2006 Volvo 780 auto transmission and it is throwing 3 codes, FMI7, MID130 & SID55. Truck will start and run but instead of revving and then idling, it goes straight to idle when you put it in D. It is like the clutch is not releasing but you can put your foot on the brake and let it roll and it will go into gear. It will shift, but if you come to a complete stop, that is when it throws the codes and you have to make it roll to get it back into gear. I put 4 new batteries thinking it may have a weak one. I had a man look at it and he did not have the updated software to properly diagnose it. Can someone give me an idea of where to start and exactly what those codes mean? Thanks!