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It seems that you didn't have any PR2 controller running when you executed the command.

You can launch the PR2 first

roslaunch pr2_gazebo pr2_empty_world.launch

Then execute the command, For example

rosfuerte@rosfuerte-K53SM:~$ rosrun pr2_controller_manager pr2_controller_manager list
base_controller ( running )
base_odometry ( running )
head_traj_controller ( running )
l_arm_controller ( running )
l_gripper_controller ( running )
laser_tilt_controller ( running )
r_arm_controller ( running )
r_gripper_controller ( running )
torso_controller ( running )

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