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Okay I solved the problem ! The package that needed to be downloaded was

sudo apt-get install ros-kinetic-gazebo-ros-control

Then of course, I had to include gazebo with robot name space header in the xml file which was given in the following link:

http://answers.ros.org/question/214712/gazebo-controller-spawner-warning/

Thanks @ufr3c_tjc appreciate the help!

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