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Have you tried making sure that all of the need files are downloaded for the demo? When I was running into building errors, I did
$ sudo apt-get remove ros-indigo-hector-
Then hit the tab button till I got the list of all installed hector related packages (be careful not to remove anything). I was missing some of the packages so as soon as I sudo apt-get install the rest, my errors went away.
But, the way your error is presented, you maybe missing the controller package for gazebo.
$ sudo apt-get install ros-indigo-hector-quadrotor-controller
$ sudo apt-get install ros-indigo-hector-quadrotor-controller-gazebo
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