Is “Outsmarting the Birthday Convoy” true?

In the novel, Chao Gai and six others seize the Birthday Convoy; although the "Great Song Xuanhe Legacy" contains a prototype of the convoy seizure, in the official history "History of Song" there is no such person as Chao Gai, and the seizure is fictional. The original text reads: "我且问你，这七人端的是谁？不是别人，原来正是晁盖、吴用、公孙胜、刘唐、三阮这七个。" (Water Margin, Chapter 16)