weird behaviour when loading controller in controller manager in gazebo

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Hi, I have a strange problem again and I can't figure out what is going wrong.

I use the gazebo_ros_controller_manager plugin for controlling an arm and a pan/tilt unit in gazebo simulation. I use similar configuration parameters for both of them. I posted the yaml files at the end. Both configuration files are loaded to the parameter server, then I use the pr2_controller_manager spawner node to load the controllers. It works perfectly when I load the arm_controller, I can move the arm and everything. But when I try to load the pantilt_controller, the simulation gets freaky. All the robot parts that are attached with non-fixed joints are displayed somewhere in the centre of the gazebo area, the published joint states look like this:

header: 
  seq: 131001
  stamp: 
    secs: 1311
    nsecs: 61000000
  frame_id: ''
name: ['base_link_to_wheel_l_rim_joint', 'base_link_to_wheel_r_rim_joint', 'lenkrolle_base_to_lenkrolle_dreh_joint', 'lenkrolle_dreh_to_lenkrolle_rim_joint', 'kopf_base_to_kopf_pan_joint', 'kopf_pan_to_kopf_tilt_joint', 'arm_1_joint', 'arm_2_joint', 'arm_3_joint', 'arm_4_joint', 'arm_5_joint', 'arm_6_joint', 'arm_7_joint', 'gripper_base_to_finger_l', 'gripper_base_to_finger_r']
position: [31.415926535897945, 37.699111843077524, 9.42486522723199, 3.1416799200523933, -9.424716252608002, -9.424872208549377, -3.1415926535897913, -10.995570796905772, -1.5707998174534001, 7.853985124632986, 4.712385489726186, 1.5707998174534001, -1.5707998174533984, nan, nan]
velocity: [nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan, nan]
effort: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, nan, nan]

All the position values should be close to 0, velocity too. The other joints are controlled by different controllers, they don't even use the pr2 controller_manager, except for publishing the joint states. I tried using the JointSplineTrajectoryController instead but with the same result. Same result if I don't start the arm controller.

I'm really lost. I have no idea what I am doing wrong. It used to work some time ago, but I haven't used the simulation for some time. I can't remember I changed anything since it worked. There are no error messages, the spawner just gives two info messages "Loaded controllers: pantilt_controller" and "Started controllers: pantilt_controller". Maybe it is just a simple but stupid mistake again, but I can't find it. Please help me solve this problem. Thanks.

The configuration files I use:

arm_configuration.yaml:

arm_controller:
  type: robot_mechanism_controllers/JointTrajectoryActionController
  joints:
    - arm_1_joint
    - arm_2_joint
    - arm_3_joint
    - arm_4_joint
    - arm_5_joint
    - arm_6_joint
    - arm_7_joint
  gains:
    arm_1_joint:
      p: 2000.0
      d: 0.0
      i: 100.0
    arm_2_joint:
      p: 2000.0
      d: 0.0
      i: 100.0      
    arm_3_joint: 
      p: 2000.0
      d: 0.0
      i: 100.0
    arm_4_joint:
      p: 2020.0
      d: 0.0
      i: 100.0
    arm_5_joint:
      p: 2030.0
      d: 0.0
      i: 100.0
    arm_6_joint:
      p: 5050.0
      d: 0.0
      i: 100.0
    arm_7_joint:
      p: 2080.0
      d: 0.0
      i: 100.0

  arm_joint_trajectory_action_node:
    joints:
      - arm_1_joint
      - arm_2_joint
      - arm_3_joint
      - arm_4_joint
      - arm_5_joint
      - arm_6_joint
      - arm_7_joint
    constraints:
      goal_time: 0.6
      arm_1_joint:
        goal: 0.05
      arm_2_joint:
        goal: 0.05
      arm_3_joint:
        goal: 0.05
      arm_4_joint:
        goal: 0.05
      arm_5_joint:
        goal: 0.05
      arm_6_joint:
        goal: 0.05
      arm_7_joint:
        goal: 0.05

Update 1: I found out that the problem is ... (more)