I am trying to implement a hardware interface for my robot.

Right now i'm tyring to make a hardware interface for rrbotrobot as a testing purpose. But i'm not able to list the command parametrs like that when i use rrbotrobot in simulation. i.e launching the robot in gazebo. To launch the hardwareinterface alsong with the controllers and controller manager. github repository
i'm using thsi files: rrbotcontrol.yaml

rrbot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  

  # Position Controllers ---------------------------------------
  joint1_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint1
    pid: {p: 100.0, i: 0.01, d: 10.0}
  joint2_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint2
    pid: {p: 100.0, i: 0.01, d: 10.0}

rrbot_control.launch

<?xml version="1.0"?>

<launch>

  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find rrbot_control)/config/rrbot_control.yaml" command="load"/>

  <!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description"
    command="$(find xacro)/xacro --inorder '$(find rrbot_description)/urdf/rrbot.xacro'" />

  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
    args="-urdf -model rrbot -param robot_description"/>


  <!-- launch our hardware interface -->
    <node pkg="rrbot_control"
          type="rrbot_control"
          name="rrbot_control" output="screen" clear_params="true"
          required="true"/>


  <!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/rrbot" args="joint_state_controller
                      joint1_position_controller
                      joint2_position_controller"/>

  <!-- 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="/rrbot/joint_states" />
  </node>

</launch>

rrbot_control.cpp

#include <hardware_interface/joint_command_interface.h>
#include <hardware_interface/joint_state_interface.h>
#include <hardware_interface/robot_hw.h>
#include <ros/ros.h>
#include <controller_manager/controller_manager.h>

class MyRobot : public hardware_interface::RobotHW
{
public:
  MyRobot() 
 { 
   // connect and register the joint state interface
   hardware_interface::JointStateHandle state_handle_a("joint1", &pos[0], &vel[0], &eff[0]);
   jnt_state_interface.registerHandle(state_handle_a);

   hardware_interface::JointStateHandle state_handle_b("joint2", &pos[1], &vel[1], &eff[1]);
   jnt_state_interface.registerHandle(state_handle_b);

   registerInterface(&jnt_state_interface);

   // connect and register the joint position interface
   hardware_interface::JointHandle pos_handle_a(jnt_state_interface.getHandle("joint1"), &cmd[0]);
   jnt_pos_interface.registerHandle(pos_handle_a);

   hardware_interface::JointHandle pos_handle_b(jnt_state_interface.getHandle("joint2"), &cmd[1]);
   jnt_pos_interface.registerHandle(pos_handle_b);

   registerInterface(&jnt_pos_interface);
  }

  void read() { std::cout<<"read"<<std::endl; };
  void write() { std::cout<<"write"<<std::endl; }; 

private:
  hardware_interface::JointStateInterface jnt_state_interface;
  hardware_interface::PositionJointInterface jnt_pos_interface;
  double cmd[2];
  double pos[2];
  double vel[2];
  double eff[2];
};

int main(int argc, char **argv)
{
  ros::init(argc, argv, "rrbot");
  ros::NodeHandle nh;  

  MyRobot robot;
  controller_manager::ControllerManager cm(&robot);
ros::Duration d(0.5);
  while (ros::ok())
  {
     robot.read();
     //cm.update(ros::Time::now().toSec(),d);
     robot.write();
     sleep(1);
  }
}

CMakeLIsts.txt

cmake_minimum_required(VERSION 2.8.3)

project(rrbot_control)

find_package(catkin REQUIRED
  roscpp
  urdf
  std_msgs
  message_generation
  hardware_interface
  controller_manager
)

include_directories(
  ${catkin_INCLUDE_DIRS}
  include
)


catkin_package()

install(DIRECTORY config
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

add_executable(${PROJECT_NAME} src/rrbot_control.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) 

When i run the command :

roslaunch rrbotcontrol rrbotcontrol

i'm not getting any error. but when i type the cmd rostopic list i can't find any ros controllers related parametrs like that when i launch the same robot in gazebo.