I am trying to control a joint in gazebo. I saw an example here: http://answers.ros.org/question/58329/how-can-i-simulate-dynamixel-arm-in-gazebo/ This uses libgazeboroscontroller_manager.so But when building this I get the following error:

 /fuerte_workspace/pr2_simulator/pr2_gazebo_plugins/src/gazebo_ros_controller_manager.cpp: In member function ‘virtual void gazebo::GazeboRosControllerManager::UpdateChild()’:
 /fuerte_workspace/pr2_simulator/pr2_gazebo_plugins/src/gazebo_ros_controller_manager.cpp:240:117: error: ‘class gazebo::math::Angle’ has no member named ‘Radian’
/fuerte_workspace/pr2_simulator/pr2_gazebo_plugins/src/gazebo_ros_controller_manager.cpp:249:73: error: ‘class gazebo::math::Angle’ has no member named ‘Radian’

Also the tag seems not work in sdf. Is there a better plugin to control a joint with a pid controller in gazebo?