Source build of Ros Lunar Gazebo / Husky on Debian Stretch

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Attempting to make and launch Husky in gazebo simulator.

jeffa@lunar:~$ uname -a
Linux lunar 4.9.0-2-amd64 #1 SMP Debian 4.9.18-1 (2017-03-30) x86_64 GNU/Linux
jeffa@lunar:~$

root@lunar:/etc/apt/sources.list.d# cat ros-latest.list
deb http://packages.ros.org/ros/ubuntu stretch main

I followed the directions Debian install of ROS Lunar apt-get install ros-lunar-desktop-full This is on an old HP tx2000.

I make husky / gazebo by downloading source, eventually I get a clean build. Some of the packages I used seemed pretty old. Wherever possible I attempted to use the lunar branch of the git repositories.

jeffa@lunar:~/catkin_ws/src$ ll
total 4
drwxr-xr-x 4 jeffa jeffa 4096 May 28 12:44 beginner_tutorials
lrwxrwxrwx 1 jeffa jeffa   48 May 28 04:48 CMakeLists.txt -> /opt/ros/lunar/share/catkin/cmake/toplevel.cmake
lrwxrwxrwx 1 jeffa jeffa   37 Jun  3 18:44 cpr_multimaster_tools -> /home/jeffa/git/cpr_multimaster_tools
lrwxrwxrwx 1 jeffa jeffa   31 Jun  4 00:11 gazebo_ros_pkgs -> /home/jeffa/git/gazebo_ros_pkgs
lrwxrwxrwx 1 jeffa jeffa   31 Jun  3 19:17 geographic_info -> /home/jeffa/git/geographic_info
lrwxrwxrwx 1 jeffa jeffa   21 Jun  3 18:31 husky -> /home/jeffa/git/husky
lrwxrwxrwx 1 jeffa jeffa   47 Jun  3 22:12 interactive_marker_twist_server -> /home/jeffa/git/interactive_marker_twist_server
lrwxrwxrwx 1 jeffa jeffa   22 Jun  3 19:47 lms1xx -> /home/jeffa/git/lms1xx
lrwxrwxrwx 1 jeffa jeffa   32 Jun  3 20:22 multimaster_fkie -> /home/jeffa/git/multimaster_fkie
lrwxrwxrwx 1 jeffa jeffa   31 Jun  3 19:09 navigation_msgs -> /home/jeffa/git/navigation_msgs
lrwxrwxrwx 1 jeffa jeffa   34 Jun  3 19:13 robot_localization -> /home/jeffa/git/robot_localization
lrwxrwxrwx 1 jeffa jeffa   24 Jun  3 20:44 ros_comm -> /home/jeffa/git/ros_comm
lrwxrwxrwx 1 jeffa jeffa   29 Jun  1 13:29 ros_tutorials -> /home/jeffa/git/ros_tutorials
lrwxrwxrwx 1 jeffa jeffa   38 Jun  3 12:48 teleop_twist_keyboard -> /home/jeffa/git/teleop_twist_keyboard/
lrwxrwxrwx 1 jeffa jeffa   25 Jun  3 22:23 twist_mux -> /home/jeffa/git/twist_mux
lrwxrwxrwx 1 jeffa jeffa   34 Jun  3 19:20 unique_identifier -> /home/jeffa/git/unique_identifier/
jeffa@lunar:~/catkin_ws/src$

At this point it's built and runs, that is the husky model appears in gazebo. I invoke it as follows. - Sometimes I runt it twice with it loading the model sporadically. This line looks suspicious and the long indicates "ontroller Spawner couldn't find the expected controller_manager ROS interface."

I have read a couple answers on this forum that were helpful, but I haven't solved this for myself. Any additional insight for me, or additional trouble shooting suggestions?

The .launch file

<launch>

  <arg name="world_name" default="worlds/empty.world"/>

  <arg name="laser_enabled" default="true"/>
  <arg name="kinect_enabled" default="false"/>

  <!--<include file="$(find gazebo_ros)/launch/empty_world.launch">-->
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
  <!-- world_name is wrt GAZEBO_RESOURCE_PATH environment variable -->
    <arg name="world_name" value="$(arg world_name)"/> 
    <arg name="paused" value="false"/>
    <arg name="use_sim_time" value="true"/>
    <arg name="gui" value="true"/>
    <arg name="headless" value="false"/>
    <arg name="debug" value="false"/>
  </include>

  <include file="$(find husky_gazebo)/launch/spawn_husky.launch">
    <arg ...