How to run controller_manager

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Hi All,

I use a launch file to load a controller:

 <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="controller/twist"/>

When I run the launch file, the system said waiting for service controller_manager/load_controller.

But when I type rosservice call controller_manager/load_controller it told me that service is not available.

Do I need to run controller_manager first before calling that service? If yes, how I run controller_manager?

Thanks in advanced.