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Hi All, I pull up the discussion again, since I have exact the same error as Jose. After trying all the suggestions, I still don't get it work. My ROS version is Indigo, and I use catkin.

1. I completed the first tutorial successfully, and I can roscd into my_controller_pkg http://wiki.ros.org/pr2_mechanism/Tutorials/Writing%20a%20realtime%20joint%20controller .

   chuong_nguyen@chuongLinux:~$ rospack plugins --attrib=plugin pr2_controller_interface robot_mechanism_controllers /opt/ros/indigo/share/robot_mechanism_controllers/controller_plugins.xml pr2_calibration_controllers /opt/ros/indigo/share/pr2_calibration_controllers/controller_plugins.xml pr2_mechanism_controllers /opt/ros/indigo/share/pr2_mechanism_controllers/controller_plugins.xml pr2_controller_manager /opt/ros/indigo/share/pr2_controller_manager/test/controller_plugin.xml ethercat_trigger_controllers /opt/ros/indigo/share/ethercat_trigger_controllers/controller_plugins.xml pr2_gripper_sensor_controller /opt/ros/indigo/share/pr2_gripper_sensor_controller/controller_plugins.xml my_controller_pkg /home/chuong_nguyen/Chuong/WritingROS/pr2_tutorial/src/my_controller_pkg/controller_plugins.xml

2. I used the export ROS_PACKAGE_PATH command at each time I open the terminal, (as joseescobar60 comment)

   $ export ROS_PACKAGE_PATH=/home/chuong_nguyen/Chuong/WritingROS/pr2_tutorial:$ROS_PACKAGE_PATH
   $ roslaunch gazebo_ros empty_world.launch
   $ roslaunch pr2_gazebo pr2.launch
   

3. Follow the tutorial, I got up to here

   $ rosparam get -p my_controller_name
   

and get

     joint_name: r_shoulder_pan_joint
     type: my_controller_pkg/MyControllerPlugin

4. But when I use the command

     $ rosrun pr2_controller_manager pr2_controller_manager list-types

I don't see my_controller_pkg show in the terminal, and only get the same output as Jose's first question.

Greatly thanks to any suggestion.