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It looks like you've performed a partial upgrade -- notice how the controller_manager is at 0.17, while the messages are 0.15.

Please make sure to not do partial upgrades on ROS packages.

Upgrade everything ROS related and then try again.

The output I get when using your suggestion is:

ii  ros-melodic-controller-manager               0.17.0-1bionic.20200320.133159                  amd64        The controller manager.
ii  ros-melodic-controller-manager-msgs          0.15.1-0bionic.20190601.004956                  amd64        Messages and services for the controller manager.

It looks like you've performed a partial upgrade -- notice how the controller_manager is at 0.17, while the messages are 0.15.

Please make sure to not do partial upgrades on ROS packages.

Upgrade everything ROS related and then try again.