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I have solved this problem. In my catkin_ws/src, there is a ros_control package contains nothing in it.And I have installed ros_control by rosrun apt-get install ros-indigo-ros-control,I guess the ros will first search the package in catkin_ws/src.If there is no this package,it will search the package in /opt/ros/,I don't why when I use rosrun and use the tab can make the full name with control_manager. But I guess this is the reason that why ros can't locate node [controller_manager] in package . So I removed all the packages related ros_control and reinstalled them, then it works.