Error when loading MyControllerClass

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Hi, I run this tutorial. And everything seems ok, but at last I couldn't load the controller. How to fix that? Thank you~~

It showed that:

 sam@sam-desktop:~/code/ros/controller/joint_controller_pkg$ rosparam set MyControllerClass/type MyControllerPlugin
 sam@sam-desktop:~/code/ros/controller/joint_controller_pkg$ rosparam set MyControllerClass/joint_name r_shoulder_pan_joint
 sam@sam-desktop:~/code/ros/controller/joint_controller_pkg$ rosrun      pr2_controller_manager pr2_controller_manager load MyControllerClass
 Error when loading MyControllerClass
 sam@sam-desktop:~/code/ros/controller/joint_controller_pkg$

My controller.h

 #include <pr2_controller_interface/controller.h>
 #include <pr2_mechanism_model/joint.h>

 namespace my_controller_ns{

    class MyControllerClass: public pr2_controller_interface::Controller
    {
        private:
            pr2_mechanism_model::JointState* joint_state_;
            double init_pos_;

        public:
            virtual bool init(pr2_mechanism_model::RobotState *robot,
                    ros::NodeHandle &n);
            virtual void starting();
            virtual void update();
            virtual void stopping();
    };
 }

My controller.cpp

 #include <pluginlib/class_list_macros.h>

 #include "controller.h"

 namespace my_controller_ns {

    /// Controller initialization in non-realtime
    bool MyControllerClass::init(pr2_mechanism_model::RobotState      *robot,ros::NodeHandle &n)
    {
        //使用時會從console取得joint名字才能繼續執行
        std::string joint_name;
        if (!n.getParam("joint_name", joint_name))
        {
            ROS_ERROR("No joint given in namespace: '%s')",
                    n.getNamespace().c_str());
            return false;
        }

        joint_state_ = robot->getJointState(joint_name);
        if (!joint_state_)
        {
            ROS_ERROR("MyController could not find joint named '%s'",
                    joint_name.c_str());
            return false;
        }
        return true;
    }


    /// Controller startup in realtime
    void MyControllerClass::starting()
    {
        init_pos_ = joint_state_->position_;
    }


    /// Controller update loop in realtime
    void MyControllerClass::update()
    {
        double desired_pos = init_pos_ + 0.5 * sin(ros::Time::now().toSec());
        double current_pos = joint_state_->position_;
        joint_state_->commanded_effort_ = -10 * (current_pos - desired_pos);
    }


    /// Controller stopping in realtime
    void MyControllerClass::stopping()
    {}
 } // namespace

 /// Register controller to pluginlib
 PLUGINLIB_DECLARE_CLASS(joint_controller_pkg,MyControllerPlugin, 
        my_controller_ns::MyControllerClass, 
        pr2_controller_interface::Controller)

My CMakeLists.txt

 cmake_minimum_required(VERSION 2.4.6)
 include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

 # Set the build type.  Options are:
 #  Coverage       : w/ debug symbols, w/o optimization, w/      code-coverage
 #  Debug          : w/ debug symbols, w/o optimization
 #  Release        : w/o debug symbols, w/ optimization
 #  RelWithDebInfo : w/ debug symbols, w/ optimization
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped      binaries
 #set(ROS_BUILD_TYPE RelWithDebInfo)

 rosbuild_init()

 #set the default path for built executables to the "bin" directory
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

 #uncomment if you have defined messages
 #rosbuild_genmsg()
 #uncomment if you have defined services
 #rosbuild_gensrv()

 #common commands for building c++ executables and libraries
 #rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
 #target_link_libraries(${PROJECT_NAME} another_library)
 #rosbuild_add_boost_directories()
 #rosbuild_link_boost(${PROJECT_NAME} thread)
 #rosbuild_add_executable(example examples/example.cpp)
 #target_link_libraries(example ${PROJECT_NAME})
 rosbuild_add_library(joint_controller_lib src/controller.cpp)

My manifest.xml

 <package>
   <description brief="joint_controller">

     joint_controller

   </description>
   <author>sam</author>
   <license>BSD</license>
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/joint_controller</url>
   <depend package="pr2_controller_interface"/>
   <depend package="pr2_mechanism_model"/>
   <depend package="pluginlib"/>

   <export>
     <pr2_controller_interface plugin="${prefix}/controller_plugins.xml" />
   </export>
 </package>

My controller_plugins.xml

 <library path="lib/libjoint_controller_lib">
   <class name="joint_controller_pkg/MyControllerPlugin"
          type="joint_controller_ns::MyControllerClass"
          base_class_type="pr2_controller_interface::Controller" />
 </library>

I also find some similar error others met and run the instruction

 sam@sam-desktop:~/code/ros/controller/joint_controller_pkg$ nm lib/libjoint_controller.so | grep pocoBuildManifest
 00002f30 T pocoBuildManifestjoint_controller_pkg__MyControllerPlugin
 sam@sam-desktop:~/code/ros/controller/joint_controller_pkg$

I also run rxconsole,and it showed that

 Could not load class MyControllerPlugin: According to the loaded plugin descriptions the class MyControllerPlugin with base class type pr2_controller_interface::Controller does not exist ...