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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>