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Actually I found the solution now. I just forgot to add the joint_state_controller to controller_spawner. So instead of

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/lasertest" args="joint_trajectory_controller"/>

I need:

<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/lasertest" args="joint_trajectory_controller
                          joint_state_controller"/>

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