ROS Gazebo URDF Joint Control works with position controller but not any other type

edit

Hello, I've noticed a few other questions of a similar nature usually having trouble with namespaces when trying to control joints in ROS Gazebo. I think I've got the namespaces down, but I'm having a weird issue where everything works fine when I use a position controller, but as soon as I try to switch to any other type of controller I get errors. Here are the relevant parts of the files of the working version with position controllers.

Relevant section of urdf:

<transmission name="antenna_rotation">
 <type>transmission_interface/SimpleTransmission</type>
 <actuator name="$antenna_motor">
  <mechanicalReduction>1</mechanicalReduction>
  <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
 <joint name="antenna_base_to_antenna">
  <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
 </joint>
</transmission>

 <!-- plugin needed to control robot using ros -->
 <gazebo>
  <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
    <robotNamespace>/antenna_robot</robotNamespace>
  </plugin>
 </gazebo>

Relevant section of launch file, I have the whole robot under its own namespace since I am using 2 different robots.

<group ns="antenna_robot">
    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" output="screen" args="-file $(find 
     antenna_sim_description)/com_base_station/model.urdf -urdf -x 6.5 -y -6.5 -z 0 -model antenna" />

<arg name="model" default="$(find antenna_sim_description)/com_base_station/model.urdf"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

  <rosparam command="load"
      file="$(find antenna_sim_description)/com_base_station/config/joints.yaml"
      ns="antenna_sim_joint_state_controller" />

    <rosparam command="load"
      file="$(find antenna_sim_description)/com_base_station/config/antenna.yaml"
      ns="antenna_sim_antenna_controller" />

    <node name="antenna_sim_controller_spawner" pkg="controller_manager" type="spawner"
      args="antenna_sim_joint_state_controller
      antenna_sim_antenna_controller" />
  </group>

joints.yaml:

type: "joint_state_controller/JointStateController"
publish_rate: 50

antenna.yaml:

type: "position_controllers/JointPositionController"
joint: antenna_base_to_antenna

Everything works great, can this command to rotate the antenna for example:

rostopic pub /antenna_robot/antenna_sim_antenna_controller/command std_msgs/Float64 "data: -0.707"

Now I try to switch to a different type of controller, I change my urdf to VelocityJointInterface I change my antenna.yaml to velocity_controllers/JointTrajectoryController

I get the following errors when I launch:

[ERROR] [1553738576.470885508, 1298.720000000]: Could not find 'joints' parameter (namespace: /antenna_robot/antenna_sim_antenna_controller).
[ERROR] [1553738576.470958595, 1298.720000000]: Failed to initialize the controller
[ERROR] [1553738576.471007007, 1298.720000000]: Initializing controller 'antenna_sim_antenna_controller' failed
[ INFO] [1553738577.027059438, 1299.280000000]: Datum (latitude, longitude, altitude) is (49.900000, 8.900000, 0.000000)
[ INFO] [1553738577.027100296, 1299.280000000]: Datum UTM coordinate is (492818.438771, 5527517.135857)
[ INFO] [1553738577.027129711, 1299.280000000]: Initial odometry pose is Origin: (0 0 0)
Rotation (RPY): (0, -0, 0)
[ INFO] [1553738577.027219487, 1299.280000000]: Corrected for magnetic declination of 0.000000, user-specified offset of 1.570796 and meridian convergence of -0.001335. Transform heading factor is now 1.569461
[ INFO] [1553738577.027244788, 1299.280000000]: Transform world frame pose is: Origin: (0 0 0)
Rotation (RPY): (0, -0, 0)

[ INFO] [1553738577.027269780, 1299.280000000]: World frame->utm transform is Origin: (-5528170.1551857395098 485438.39578638831154 0)
Rotation (RPY): (0, 0, -1.5694612597485673167)

[ERROR] [1553738577.472082, 1299.720000]: Failed to load antenna_sim_antenna_controller

Not sure how this is happening. I've double checked to make sure I have all the controller types installed and I can see that the yaml file is being parsed based on these parameters ... (more)