controller and ros manager

edit

hello everyone : I am using the ros controller , and I have wrote a controller and a controller manager , but when I want to load the controller to ros manager , I get some problem:

[ERROR] [1431447499.444484032]: Could not load class drive_controller/DriveController: Failed to load library /home/exbot/Documents/ROS/control_error/devel/lib//libdrive_controller.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/exbot/Documents/ROS/control_error/devel/lib//libdrive_controller.so: undefined symbol: _ZTVN16drive_controller15DriveControllerE)
[ERROR] [1431447499.444575741]: Could not load controller 'exp_drive_controller' because controller type 'drive_controller/DriveController' does not exist.
[ERROR] [1431447499.444601932]: Use 'rosservice call controller_manager/list_controller_types' to get the available types

[ERROR] [WallTime: 1431447500.445374] Failed to load exp_drive_controller

and this is drive_controller's CMakeLists.txt:

  cmake_minimum_required(VERSION 2.8.3)
project(drive_controller)

find_package(catkin REQUIRED COMPONENTS
  controller_interface
  hardware_interface
  realtime_tools
  roscpp
  pluginlib
  rospy
  tf
  urdf
)

 find_package(Boost REQUIRED COMPONENTS system)


catkin_package(
  INCLUDE_DIRS include
  LIBRARIES drive_controller
  CATKIN_DEPENDS controller_interface hardware_interface realtime_tools roscpp rospy tf urdf
  DEPENDS system_lib
)

include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
)

 add_library(${PROJECT_NAME}
   src/drive_controller.cpp
 )

 target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES}
 )

 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )


 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h"
   PATTERN ".svn" EXCLUDE
 )

 install(FILES
   driver_controller.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

and this is the xml for the plugin:

    <library path="lib/libdrive_controller">
  <class name="drive_controller/DriveController" type="drive_controller::DriveController" base_class_type="controller_interface::ControllerBase">
    <description>

    </description>
  </class>

</library>

and this my manager's .launch file:

    <launch>
    <rosparam file="$(find exp_hardware)/config/exp_controller.yaml" command="load"/>
    <node name="spawner" pkg="controller_manager" type="spawner" args="exp_drive_controller " respawn="false"/>
    <node name="exp_hard_soft" pkg="exp_hardware" type="exp_hardware" output="screen"/>
</launch>

and this is my manager's yaml file:

    exp_drive_controller:
 type: "drive_controller/DriveController"
 left_wheel_name: 'left_wheel'
 right_wheel_name: 'right_wheel'

the code for the drive controller is :

#include <geometry_msgs/Twist.h>
#include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>
#include <controller_interface/controller.h>
#include <hardware_interface/joint_command_interface.h>
#include <pluginlib/class_list_macros.h>
#include <tf/tfMessage.h>
#include <realtime_tools/realtime_buffer.h>
#include <realtime_tools/realtime_publisher.h>
#include <string>

using namespace std ;
using namespace controller_interface ;

typedef struct
{
    double linear_x_vel ;
    double angular_vel ;
    ros::Time current_time ;
}Commands ;

namespace drive_controller {
class DriveController:
       public Controller<hardware_interface::VelocityJointInterface>
{
public:
    DriveController() ;
    ~DriveController();
    bool init(hardware_interface::VelocityJointInterface *hw,
              ros::NodeHandle &root_nh,
              ros::NodeHandle &controller_nh);
    void update(const ros::Time &time, const ros::Duration &period);
    void starting(const ros::Time &time) ;
    void stopping(const ros::Time &time) ;
protected:
private:
    double wheel_radius_ ;
    double wheel_separation_ ;
    string left_wheel_name ;
    string right_wheel_name ;
    string name_ ;

    double cmd_vel_timeout ;

    hardware_interface::JointHandle left_wheel_joint ;
    hardware_interface::JointHandle right_wheel_joint ;
    realtime_tools::RealtimeBuffer<Commands> realtime_commands ;
    Commands current_command ;
    Commands last_command ;

    ros::Subscriber cmd_vel_sub ;
   // ros::Time last_state_time_ ;
    enum {STARTING , STOPPING , RUNNING} STATE ;
private:
     void cmdvelCallBack(const geometry_msgs::TwistConstPtr ptr) ;
     bool getWheelNames(ros::NodeHandle& controller_nh,
             const std::string& wheel_param,
             std::string& wheel_name);
     void brake() ;
};
}


#include <drive_controller/drive_controller.h>
#include <boost/make_shared.hpp>
#include <pluginlib/class_list_macros.h>

namespace drive_controller {
DriveController::DriveController()
{
    wheel_radius_ = 0.9 ;
    wheel_separation_ = 1.2;
    current_command.angular_vel = 0 ;
    current_command.linear_x_vel  = 0 ;
    current_command.current_time.init ...