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I believe I have managed to fix this issue. The problem came because I was instantiating the hardware interface through another class rather than in the main function and I believe this was causing issues with the controller manager services having access.
To fix this I simplified the initialisation of the hardware interface to one class and followed this example of a working HW interface (https://github.com/cyborg-x1/ros_control_test) mainly the src/mybot.cpp file which showed how to setup the queue and asyncspinner as described here correctly (https://answers.ros.org/question/119316/using-controller-manager-and-getting-it-to-work/)
I am now able to load all the joint interfaces, limits through reading the urdf transmissions the same way in which gazebo achieves this and am able to load and load and start the controllers successfully.
Thanks to all the other people in the other threads who have described similar issues and gvdhoorn for your help. Callum
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