Exception thrown while initializing controller Could not find resource 'joint' in 'hardware_interface::PositionJointInterface'

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I am on ROS kinetic Ubuntu 16.04, I have ros-control and ros-controllers packages installed I have got this error when launching my robot description inside my robot: Exception thrown while initializing controller Could not find resource 'joint' in 'hardware_interface::PositionJointInterface' But when I launch it inside gazebo, it is perfectly working. My model is defined like this:

<link name="link1">
            <origin xyz="0 0 0" rpy="0 0 0"/>
            <visual>
                <origin xyz="0 0 0" rpy="0 0 0"/>
                <geometry>
                <box size="0.01 0.01 0.01"/>
                </geometry>
            </visual>
            <collision>
                <geometry>
                <box size="0.01 0.01 0.01"/>
                </geometry>
            </collision>
            <inertial>
                <origin xyz="0 0 0" rpy="0 0 0" />
                <mass value="1" />
                <inertia
                ixx="1.0" ixy="0.0" ixz="0.0"
                iyy="1.0" iyz="0.0"
                izz="1.0" />
            </inertial>
        </link>
        <joint name="joint1" type="revolute">
            <axis xyz="0 0 1"/>
            <limit effort="1000.0" lower="0.0" upper="6.19592" velocity="0.5"/>
            <origin xyz="${pan_x_pos} ${pan_y_pos} ${pan_z_pos}" rpy="${pan_roll} ${pan_pitch} ${pan_yaw}" />
            <parent link="base_link" />
            <child link="link1" />
            <dynamics damping="0.7"/>
        </joint>
        <transmission name="tran1">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="joint1">
                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
            </joint>
            <actuator name="motor1">
                <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>

I have seen this answer:

https://answers.ros.org/question/2859...

https://answers.ros.org/question/1959...

But it doesn't solved my problem. Any ideas, any help ? Thank you !