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Ah I missed the first link. In electric the jttelop controller was moved. Use this launch file instead: (Note that you need to have the pr2_controllers stack installed.)

<launch> <node name="stop_r_arm" pkg="pr2_controller_manager" type="pr2_controller_manager" args="stop r_arm_controller"/>

<rosparam ns="r_cart"> type: robot_mechanism_controllers/JTTCartesianController root_name: torso_lift_link tip_name: r_gripper_tool_frame k_posture: 25.0 jacobian_inverse_damping: 0.01 pose_command_filter: 0.01 cart_gains: trans: p: 800.0 d: 15.0 rot: p: 80.0 d: 1.2 joint_feedforward: r_shoulder_pan_joint: 3.33 r_shoulder_lift_joint: 1.16 r_upper_arm_roll_joint: 0.1 r_elbow_flex_joint: 0.25 r_forearm_roll_joint: 0.133 r_wrist_flex_joint: 0.0727 r_wrist_roll_joint: 0.0727 joint_max_effort: r_shoulder_pan_joint: 11.88 r_shoulder_lift_joint: 11.64 r_upper_arm_roll_joint: 6.143 r_elbow_flex_joint: 6.804 r_forearm_roll_joint: 8.376 r_wrist_flex_joint: 5.568 r_wrist_roll_joint: 5.568

vel_saturation_trans: 2.0 vel_saturation_rot: 4.0 </rosparam> <node name="spawn_cart" pkg="pr2_controller_manager" type="spawner" args="r_cart"/> </launch>