urdf_sim_tutorial step 3 no joint_state_controller

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in the urdf_sim_tutorial step 3 ( http://wiki.ros.org/urdf/Tutorials/Us... ) no joint_state_controller is spawned.

Reproduction:

roslaunch urdf_sim_tutorial 09-joints.launch

Expected result: joint_state_controller is spawned, and joint_states is being published to

Actual result:

[WARN] [1527693210.585002, 29.140000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

and nothing is published to joint_states.

Side question: 09-joints.launch does this weird parameter load up to a namespace and then assumens controller_manager will use it somehow. However the control_manager doc http://wiki.ros.org/controller_manage... says nothing about workflow like this. The argument is suppose to be the name of the controller.