effort_controllers cannot recognize robot_description

edit

This is a kind of repetitive of this issue. I am experiencing a similar issue in noetic and I am not sure if it is a bug or I am missing something.

I have a robot in a namespace. I can control the robot if I define the transmission as <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> and in my controller yaml file:

joint_1_x_position_controller:
type: position_controllers/JointPositionController
joint: joint_1_x

However, when I send position commands, the robot overshoots the desired goal command like this. I would like to define some PID parameters in my controller but for that it looks like that I need effort_controllers/JointPositionController as far as I understand.

When I change the transmission to hardware_interface/EffortJointInterface and the controller as:

joint_1_x_position_controller:
type: effort_controllers/JointPositionController
joint: joint_1_x
pid: {p: 100.0, i: 0.01, d: 10.0}

Then the robot_description is not found. I load the robot_description parameter in another name and I want my controller to use it. I am a bit confused why the first way works and the second one does not...

Any help is appreciated. Thanks!

Edit: Error message:

[ERROR] [1636034371.838055722, 10.836000000]: Initializing controller 'joint_1_x_position_controller' failed
[ERROR] [1636034372.967876975, 11.951000000]: Could not find parameter robot_description on parameter server
[ERROR] [1636034372.968057978, 11.951000000]: Failed to parse urdf file
[ERROR] [1636034372.968184454, 11.951000000]: Failed to initialize the controller