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Did you declare your controller plugin in a pluginlib xml file and register it in your manifest's export section? Have a look here, section 5 for more information.

Did you declare your controller plugin in a pluginlib xml file and register it in your manifest's export section? Have a look here, section 5 for more information.

Btw. at least on the PR2, there exists only one controller plugin that controls all 4 casters instead of having one controller for each motor or caster.