Getting controller_manager to recognize new controller

edit

Hello everyone,

I am trying to write a new controller as simply as possible and get it working with Gazebo, but now that I have everything set up, my new controller does not seem to register with controller_manager. I am new to ROS, ros_control, and cmake, so I am struggling to troubleshoot.

When launching my controller, parameters load successfully, but I receive an error for each controller:

Could not load controller 'joint1_position_controller' because controller type 'artbot_control_new/CustomController' does not exist.

What is necessary for controller_manager to recognize the new class? In my workspace I have:

1) Robot description and gazebo packages for a robot very similar to this tutorial. Works correctly with existing ros_controllers examples.

2) A control package with the following:

• CMakeLists.txt and package.xml files specifying controller_interface, hardware_interface, pluginlib.
• In src, a controller class .cpp file based on this example, with the namespace, class name, and pluginlib arguments updated.
• A .yaml config file and launchfile specifying this package and the new controller.

I could be missing something very basic, but I am not sure where to look next. Let me know what information I can provide.

I'm using ROS Indigo on Ubuntu 14.04.

Thanks in advance!