Hello,

My kernel and distro : Linux version 4.8.0-51-generic (buildd@lcy01-09) (gcc version 5.4.0 20160609 (Ubuntu 5.4.0-6ubuntu1~16.04.4) ) #54~16.04.1-Ubuntu SMP Wed Apr 26 16:00:28 UTC 2017

I had a lot of errors with the controllermanager not finding the spawner (i solved it by git cloning the controllermanager repertory instead of using apt_get) during the launch.

But now i have other problems on the initialization of different joints of the robot. I don't know how to solve these errors so I'm here for some help.

My terminal output when launching Summit XL simulation:

enzo@cncr-2:~/catkin_ws$ roslaunch summit_xl_sim_bringup summit_xl_complete.launch 
... logging to /home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/roslaunch-cncr-2-18633.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://cncr-2:34725/

SUMMARY
========

PARAMETERS
 * /axis_angular: 2
 * /axis_linear_x: 1
 * /axis_linear_y: 0
 * /axis_linear_z: 3
 * /button_dead_man: 11
 * /button_home: 8
 * /button_kinematic_mode: 9
 * /button_output_1: 15
 * /button_output_2: 13
 * /button_ptz_pan_left: 7
 * /button_ptz_pan_right: 5
 * /button_ptz_tilt_down: 6
 * /button_ptz_tilt_up: 4
 * /button_ptz_zoom_tele: 0
 * /button_ptz_zoom_wide: 3
 * /button_speed_down: 14
 * /button_speed_up: 12
 * /cmd_service_home: /summit_xl_contro...
 * /cmd_service_io: /modbus_io/write_...
 * /cmd_service_set_mode: /summit_xl_contro...
 * /cmd_topic_ptz: /axis_camera/ptz_...
 * /cmd_topic_vel: /pad_teleop/cmd_vel
 * /joystick_dead_zone: true
 * /num_of_buttons: 15
 * /output_1: 1
 * /output_2: 2
 * /pan_increment: 5
 * /ps3_joy/autorepeat_rate: 10.0
 * /ps3_joy/deadzone: 0.12
 * /ps3_joy/dev: /dev/input/js0
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /scale_angular: 1.5
 * /scale_linear: 1.5
 * /scale_linear_z: 20.0
 * /summit_xl/joint_blw_velocity_controller/joint: joint_back_left_w...
 * /summit_xl/joint_blw_velocity_controller/pid/d: 10.0
 * /summit_xl/joint_blw_velocity_controller/pid/i: 0.01
 * /summit_xl/joint_blw_velocity_controller/pid/p: 100.0
 * /summit_xl/joint_blw_velocity_controller/type: effort_controller...
 * /summit_xl/joint_brw_velocity_controller/joint: joint_back_right_...
 * /summit_xl/joint_brw_velocity_controller/pid/d: 10.0
 * /summit_xl/joint_brw_velocity_controller/pid/i: 0.01
 * /summit_xl/joint_brw_velocity_controller/pid/p: 100.0
 * /summit_xl/joint_brw_velocity_controller/type: effort_controller...
 * /summit_xl/joint_flw_velocity_controller/joint: joint_front_left_...
 * /summit_xl/joint_flw_velocity_controller/pid/d: 10.0
 * /summit_xl/joint_flw_velocity_controller/pid/i: 0.01
 * /summit_xl/joint_flw_velocity_controller/pid/p: 100.0
 * /summit_xl/joint_flw_velocity_controller/type: effort_controller...
 * /summit_xl/joint_frw_velocity_controller/joint: joint_front_right...
 * /summit_xl/joint_frw_velocity_controller/pid/d: 10.0
 * /summit_xl/joint_frw_velocity_controller/pid/i: 0.01
 * /summit_xl/joint_frw_velocity_controller/pid/p: 100.0
 * /summit_xl/joint_frw_velocity_controller/type: effort_controller...
 * /summit_xl/joint_pan_position_controller/joint: joint_camera_pan
 * /summit_xl/joint_pan_position_controller/pid/d: 50.0
 * /summit_xl/joint_pan_position_controller/pid/i: 0.01
 * /summit_xl/joint_pan_position_controller/pid/p: 100.0
 * /summit_xl/joint_pan_position_controller/type: effort_controller...
 * /summit_xl/joint_read_state_controller/publish_rate: 100.0
 * /summit_xl/joint_read_state_controller/type: joint_state_contr...
 * /summit_xl/joint_tilt_position_controller/joint: joint_camera_tilt
 * /summit_xl/joint_tilt_position_controller/pid/d: 50.0
 * /summit_xl/joint_tilt_position_controller/pid/i: 0.01
 * /summit_xl/joint_tilt_position_controller/pid/p: 100.0
 * /summit_xl/joint_tilt_position_controller/type: effort_controller...
 * /summit_xl_robot_control/blw_pos_topic: /summit_xl/joint_...
 * /summit_xl_robot_control/blw_vel_topic: /summit_xl/joint_...
 * /summit_xl_robot_control/brw_pos_topic: /summit_xl/joint_...
 * /summit_xl_robot_control/brw_vel_topic: /summit_xl/joint_...
 * /summit_xl_robot_control/flw_pos_topic: /summit_xl/joint_...
 * /summit_xl_robot_control/flw_vel_topic: /summit_xl/joint_...
 * /summit_xl_robot_control/frw_pos_topic: /summit_xl/joint_...
 * /summit_xl_robot_control/frw_vel_topic: /summit_xl/joint_...
 * /summit_xl_robot_control/joint_back_left_wheel: joint_back_left_w...
 * /summit_xl_robot_control/joint_back_right_wheel: joint_back_right_...
 * /summit_xl_robot_control/joint_blw_steer: joint_back_left_s...
 * /summit_xl_robot_control/joint_brw_steer: joint_back_right_...
 * /summit_xl_robot_control/joint_flw_steer: joint_front_left_...
 * /summit_xl_robot_control/joint_front_left_wheel: joint_front_left_...
 * /summit_xl_robot_control/joint_front_right_wheel: joint_front_right...
 * /summit_xl_robot_control/joint_frw_steer: joint_front_right...
 * /summit_xl_robot_control/model: summit_xl
 * /summit_xl_robot_control/publish_odom_tf: False
 * /summit_xl_robot_control/summit_xl_d_tracks_m: 1.0
 * /summit_xl_robot_control/summit_xl_wheel_diameter: 0.25
 * /tilt_increment: 5
 * /twist_mux/locks: [{'topic': 'e_sto...
 * /twist_mux/topics: [{'topic': 'pad_t...
 * /use_sim_time: True
 * /zoom_increment: 300

NODES
  /
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    ps3_joy (joy/joy_node)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    summit_xl_pad (summit_xl_pad/summit_xl_pad)
    summit_xl_robot_control (summit_xl_robot_control/summit_xl_robot_control)
    twist_mux (twist_mux/twist_mux)
    urdf_spawner (gazebo_ros/spawn_model)
  /summit_xl/
    controller_spawner (controller_manager/spawner)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[summit_xl/controller_spawner-1]: started with pid [18654]
process[robot_state_publisher-2]: started with pid [18655]
process[twist_mux-3]: started with pid [18656]
process[ps3_joy-4]: started with pid [18657]
process[summit_xl_pad-5]: started with pid [18671]
process[gazebo-6]: started with pid [18683]
process[gazebo_gui-7]: started with pid [18686]
process[urdf_spawner-8]: started with pid [18702]
process[summit_xl_robot_control-9]: started with pid [18715]
[ INFO] [1493892061.156021824]: summit_xl_robot_control_node - Init 
[ INFO] [1493892061.160479087]: Robot Model : summit_xl
[ INFO] [1493892061.215892612]: Opened joystick: /dev/input/js0. deadzone_: 0.120000.
[ INFO] [1493892061.224011217]: summit_xl_wheel_diameter_ =  0.25
[ INFO] [1493892061.224059378]: summit_xl_d_tracks_m_ =  1.00
[ INFO] [1493892061.226181772]: NOT PUBLISHING odom->base_footprint tf
[ INFO] [1493892061.277524508]: SummitXLPad num_of_buttons_ = 15
[ INFO] [1493892061.277593914]: bREG 0
[ INFO] [1493892061.277608156]: bREG 1
[ INFO] [1493892061.277618105]: bREG 2
[ INFO] [1493892061.277628738]: bREG 3
[ INFO] [1493892061.277640441]: bREG 4
[ INFO] [1493892061.277648647]: bREG 5
[ INFO] [1493892061.277657034]: bREG 6
[ INFO] [1493892061.277666054]: bREG 7
[ INFO] [1493892061.277674003]: bREG 8
[ INFO] [1493892061.277681671]: bREG 9
[ INFO] [1493892061.277693802]: bREG 10
[ INFO] [1493892061.277704145]: bREG 11
[ INFO] [1493892061.277714539]: bREG 12
[ INFO] [1493892061.277724397]: bREG 13
[ INFO] [1493892061.277734816]: bREG 14
[ INFO] [1493892061.284097942]: summit_xl_robot_control::spin()
[ INFO] [1493892061.284146066]: SummitXLControllerClass::starting
SpawnModel script started
[ INFO] [1493892061.378262779]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1493892061.378878944]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[INFO] [1493892061.461683, 0.000000]: Loading model XML from ros parameter
[INFO] [1493892061.464889, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1493892061.532412, 0.000000]: Controller Spawner: Waiting for service /summit_xl/controller_manager/load_controller
[ INFO] [1493892061.595727038, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1493892061.620291917, 0.046000000]: Physics dynamic reconfigure ready.
[INFO] [1493892061.767566, 0.189000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1493892062.284273740, 0.360000000]: SummitXLControllerClass::starting
[ INFO] [1493892062.394323217, 0.360000000]: Laser Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1493892062.394370684, 0.360000000]: Starting Laser Plugin (ns = /)!
[ INFO] [1493892062.396785824, 0.360000000]: Laser Plugin (ns = /)  <tf_prefix_>, set to ""
[INFO] [1493892062.403627, 0.360000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1493892062.442239353, 0.360000000]: Loading gazebo_ros_control plugin
[ INFO] [1493892062.442374782, 0.360000000]: Starting gazebo_ros_control plugin in namespace: /summit_xl
[ INFO] [1493892062.443113973, 0.360000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[ WARN] [1493892062.601182266, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint_front_right_wheel'.
[ WARN] [1493892062.602135467, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint_front_left_wheel'.
[ WARN] [1493892062.603062641, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint_back_left_wheel'.
[ WARN] [1493892062.603548086, 0.360000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'joint_back_right_wheel'.
[ INFO] [1493892062.608249980, 0.360000000]: Loaded gazebo_ros_control.
[ WARN] [1493892062.611388272, 0.360000000]: GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/) missing <covariance_x>, defaults to 0.000100
[ WARN] [1493892062.611416739, 0.360000000]: GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/) missing <covariance_y>, defaults to 0.000100
[ WARN] [1493892062.611431970, 0.360000000]: GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/) missing <covariance_yaw>, defaults to 0.010000
[ INFO] [1493892062.611492086, 0.360000000]: Starting GazeboRosSkidSteerDrive Plugin (ns = /summit_xl/)!
[urdf_spawner-8] process has finished cleanly
log file: /home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/urdf_spawner-8*.log
[INFO] [1493892062.739651, 0.413000]: Controller Spawner: Waiting for service /summit_xl/controller_manager/switch_controller
[INFO] [1493892062.742544, 0.416000]: Controller Spawner: Waiting for service /summit_xl/controller_manager/unload_controller
[INFO] [1493892062.744441, 0.418000]: Loading controller: joint_blw_velocity_controller
[INFO] [1493892062.803965, 0.477000]: Loading controller: joint_brw_velocity_controller
[INFO] [1493892062.808881, 0.482000]: Loading controller: joint_frw_velocity_controller
[INFO] [1493892062.813744, 0.487000]: Loading controller: joint_flw_velocity_controller
[INFO] [1493892062.818717, 0.492000]: Loading controller: joint_pan_position_controller
[ERROR] [1493892062.844599970, 0.518000000]: Exception thrown while initializing controller joint_pan_position_controller.
Could not find resource 'joint_camera_pan' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1493892062.844636121, 0.518000000]: Initializing controller 'joint_pan_position_controller' failed
Segmentation fault (core dumped)
[gazebo_gui-7] process has died [pid 18686, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/gazebo_gui-7.log].
log file: /home/enzo/.ros/log/906b4478-30b0-11e7-b728-104a7db141f8/gazebo_gui-7*.log
[ INFO] [1493892063.284466023, 0.954000000]: SummitXLControllerClass::starting
[ERROR] [1493892063.850324, 1.518000]: Failed to load joint_pan_position_controller
[INFO] [1493892063.850689, 1.518000]: Loading controller: joint_tilt_position_controller
[ERROR] [1493892063.884128057, 1.552000000]: Exception thrown while initializing controller joint_tilt_position_controller.
Could not find resource 'joint_camera_tilt' in 'hardware_interface::EffortJointInterface'.
[ERROR] [1493892063.884165944, 1.552000000]: Initializing controller 'joint_tilt_position_controller' failed
[ INFO] [1493892064.284628089, 1.951000000]: SummitXLControllerClass::starting
[ERROR] [1493892064.888017, 2.552000]: Failed to load joint_tilt_position_controller
[INFO] [1493892064.888350, 2.552000]: Loading controller: joint_read_state_controller
[INFO] [1493892064.927273, 2.591000]: Controller Spawner: Loaded controllers: joint_blw_velocity_controller, joint_brw_velocity_controller, joint_frw_velocity_controller, joint_flw_velocity_controller, joint_read_state_controller
[INFO] [1493892064.930122, 2.594000]: Started controllers: joint_blw_velocity_controller, joint_brw_velocity_controller, joint_frw_velocity_controller, joint_flw_velocity_controller, joint_read_state_controller
[ INFO] [1493892065.284760983, 2.947000000]: SummitXLControllerClass::starting
^C[summit_xl_robot_control-9] killing on exit
[gazebo-6] killing on exit
[summit_xl_pad-5] killing on exit
[ps3_joy-4] killing on exit
[twist_mux-3] killing on exit
[robot_state_publisher-2] killing on exit
[summit_xl/controller_spawner-1] killing on exit
[INFO] [1493892999.389114, 935.617000]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1493893000.392898, 935.617000]: Stopping all controllers...
[gazebo-6] escalating to SIGTERM
[summit_xl/controller_spawner-1] escalating to SIGTERM
[WARN] [1493893014.412480, 935.617000]: Controller Spawner couldn't reach controller_manager to take down controllers. Waited for 30 second(s).
shutting down processing monitor...
... shutting down processing monitor complete
done

I don't understand why my gazebo is constantly dying.

Thank you for helping me please.