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Maybe I'm late, but I have had the same problem and I find this page googling, the quick solution is:

Change from this

<controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>1000.0</updateRate>
  </controller:gazebo_ros_controller_manager>

to this

   <plugin filename="libgazebo_ros_controller_manager.so" name="gazebo_ros_controller_manager">
  <alwaysOn>true</alwaysOn>
  <updateRate>1000.0</updateRate>
  <interface:audio name="gazebo_ros_controller_manager_dummy_iface" />
</plugin>