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How did you install ros_controllers, binaries or source?. What does rospack find effort_controllers yield?. It would seem that this package is either not present or its location is not in your ROS_PACKAGE_PATH.

The joint_state_controller/JointStateController is a read-only controller that publishes the /joint_states topic, so not an option. You could however use the effort_controllers/JointTrajectoryController. It all depends on how you wish to send control commands.