ROS-Gazebo Failed to load joint_state_controller

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Hello guys,

I'am following this tutorial about ROS Integration on Gazebo 1.9 ( http://gazebosim.org/wiki/Tutorials/1... ).

My issue is: As example I consider RRBot, when I type these commands:

roslaunch rrbot_gazebo rrbot_world.launch

to start simulation, and

roslaunch rrbot_control rrbot_control.launch

to load controllers, it gives me these errors:

[INFO] [WallTime: 1397731938.843439] [11.566000] Loading controller: joint_state_controller
[ERROR] [WallTime: 1397731939.851478] [12.570000] Failed to load joint_state_controller
[INFO] [WallTime: 1397731939.852413] [12.571000] Loading controller: joint1_position_controller
[ERROR] [WallTime: 1397731940.860462] [13.576000] Failed to load joint1_position_controller
[INFO] [WallTime: 1397731940.861270] [13.576000] Loading controller: joint2_position_controller
[ERROR] [WallTime: 1397731941.869383] [14.581000] Failed to load joint2_position_controller
[INFO] [WallTime: 1397731941.870228] [14.581000] Controller Spawner: Loaded controllers: 
[INFO] [WallTime: 1397731941.876315] [14.588000] Started controllers:

Then, if I type: rosservice call controller_manager/list_controller_types it gives me this error:

ERROR: Service [/controller_manager/list_controller_types] is not available.

How can I resolve? Thanks