Turtlebot simulation vs. pr2_controller_manager

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Hi all,

we have modified version of Turtlebot and right now I'm working on modifications to it's simulator. There is arm with dynamixel servos. I've added arm's URDF to robot description and I've also added controller_manager:

<gazebo>      
  <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
          <alwaysOn>true</alwaysOn>
          <updateRate>1000.0</updateRate>
          <robotNamespace>dynamixel</robotNamespace>
  </controller:gazebo_ros_controller_manager>
</gazebo>

But when starting simulation, there are errors like this (produced by libgazebo_ros_create.so):

Gazebo ROS Create plugin. NaN in d1. Step time: 0.03. WD: 0.07. Velocity: -nan
Gazebo ROS Create plugin. NaN in d2. Step time: 0.03. WD: 0.07. Velocity: -nan

and also the model of arm is not visible (just base of arm). Errors are there even if no one controller is spawned. If I set alwaysOn to false for gazebo_ros_controller_manager, the libgazebo_ros_create.so stop complaining and arm's model is normally visible.

Any ideas? Thanks.

Update

I tried to use diffdrive_plugin instead of gazebo_ros_create and it's better - now controllers can be started without problems (and it's possible to obtain data on xyz_controller/state topics) but when the robot is spawned into Gazebo, arm disappears...