my launch file is:

<launch>

  <rosparam file="$(find myrobot1_control)/config/valkyrie_control.yaml" command="load" />
  <node name="controller_spawner" pkg="controller_manager" type="spawner"
        respawn="false" output="screen" ns="/valkyrie"
        args="controller_1 
              controller_2
              controller_3" />

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">
    <remap from="/joint_states" to="/valkyrie/joint_states" />
  </node>

</launch>

my yaml file is:

valkyrie:
  controller_1:
    type: effort_controllers/JointTrajectoryController
    joints:
      - torsoYaw
      - torsoPitch
      - torsoRoll
      - leftHipYaw
      - leftHipRoll
      - leftHipPitch
      - leftKneePitch
      - leftAnklePitch
      - leftAnkleRoll
      - rightHipYaw
      - rightHipRoll
      - rightHipPitch
      - rightKneePitch
      - rightAnklePitch
      - rightAnkleRoll
      - leftShoulderPitch
      - leftShoulderRoll
      - leftShoulderYaw
      - leftElbowPitch
      - rightShoulderPitch
      - rightShoulderRoll
      - rightShoulderYaw
      - rightElbowPitch

    gains:
      torsoYaw: {p: 40.0, d: 1.0}
      torsoPitch: {p: 40.0, d: 1.0}
      torsoRoll: {p: 40.0, d: 1.0}
      leftHipYaw: {p: 40.0, d: 1.0}
      leftHipRoll: {p: 40.0, d: 1.0}
      leftHipPitch: {p: 40.0, d: 1.0}
      leftKneePitch: {p: 40.0, d: 1.0}
      leftAnklePitch: {p: 40.0, d: 1.0}
      leftAnkleRoll: {p: 40.0, d: 1.0}
      rightHipYaw: {p: 40.0, d: 1.0}
      rightHipRoll: {p: 40.0, d: 1.0}
      rightHipPitch: {p: 40.0, d: 1.0}
      rightKneePitch: {p: 40.0, d: 1.0}
      rightAnklePitch: {p: 40.0, d: 1.0}
      rightAnkleRoll: {p: 40.0, d: 1.0}
      leftShoulderPitch: {p: 40.0, d: 1.0}
      leftShoulderRoll: {p: 40.0, d: 1.0}
      leftShoulderYaw: {p: 40.0, d: 1.0}
      leftElbowPitch: {p: 40.0, d: 1.0}
      rightShoulderPitch: {p: 40.0, d: 1.0}
      rightShoulderRoll: {p: 40.0, d: 1.0}
      rightShoulderYaw: {p: 40.0, d: 1.0}
      rightElbowPitch: {p: 40.0, d: 1.0}

  controller_2:
    type: position_controllers/JointTrajectoryController
    joints:
      - leftForearmYaw
      - leftWristRoll
    gains:
      leftForearmYaw: {p: 40.0, d: 1.0}
      leftWristRoll: {p: 40.0, d: 1.0}

  controller_3:
    type: joint_state_controller/JointTrajectoryController
    joints:
      - leftThumbPitch2
      - leftThumbPitch3
    gains:
      leftThumbPitch2: {p: 40.0, d: 1.0}
      leftThumbPitch3: {p: 40.0, d: 1.0}