No valid hardware interface element found in joint

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I am getting the following error trying to load simulation interface for gazebo ros . This worked in hydro but after moving to ubuntu 14 - indigo I now get these errors. I can not see any thing that has changed in the documentation for this feature. It there a indigo-devel lib I need? I pull all software from ubuntu software center. I also compiled gazebo-ros-pkgs from source from indigo-devel.

[ERROR] [1405708119.053840656]: No valid hardware interface element found in joint 'joint1'.
[ERROR] [1405708119.053997707]: Failed to load joints for transmission 'tran1'.
[ERROR] [1405708119.054095180]: No valid hardware interface element found in joint 'joint2'.
[ERROR] [1405708119.054185473]: Failed to load joints for transmission 'tran2'.
[ INFO] [1405708119.161913723]: Loaded gazebo_ros_control.
[ERROR] [1405708120.087262628, 0.468000000]: Exception thrown while initializing controller joint1_position_controller.
Could not find resource 'joint1' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1405708120.087374119, 0.468000000]: Initializing controller 'joint1_position_controller' failed
[ERROR] [1405708121.093701156, 1.280000000]: Exception thrown while initializing controller joint2_position_controller.
Could not find resource 'joint2' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1405708121.093770162, 1.281000000]: Initializing controller 'joint2_position_controller' failed



In Gazebo:

    <joint name='joint2' type='revolute'>
        <pose>0 0 0.03 0 1.5707 1.5707</pose>
        <child>right_wheel</child>
        <parent>base_link</parent>
        <axis>
          <xyz>0 1 0</xyz>
          <limit>
            <lower>-1e+16</lower>
            <upper>1e+16</upper>
          </limit>
        </axis>
      </joint>
      <plugin name='ros_control' filename='libgazebo_ros_control.so'>
        <robotNamespace>/rrbot</robotNamespace>
        <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      </plugin>


In URDL .xmacro

  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint2"/>
    <actuator name="motor2">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>10</motorTorqueConstant>
    </actuator>
  </transmission>



In Yaml

rrbot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 10

  # Position Controllers ---------------------------------------
  joint1_position_controller:
    type: effort_controllers/JointVelocityController
    joint: joint1
    pid: {p: 40, i: 1, d: .1, i_clamp: 1}
  joint2_position_controller:
    type: effort_controllers/JointVelocityController
    joint: joint2
    pid: {p: 40, i: 1, d: .1, i_clamp: 1}