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Your PR2 doesn't seem to be running the expected controllers. The instructions can either be out of date (note that Groovy is already EOL'ed), or your PR2 bringup logic does not coincide with the expectations of the demo instructions. You can query the list of running and stopped controllers by running

rosservice call /pr2_controller_manager/list_controllers

If the expected controllers are there, but stopped, you should just start them, otherwise you might have to load their configuration to the param server, load the controllers, and then start them.