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trouble with pr2_contoller_manager spawn

Hello,

I am writing my own arm controllers for my robot, however when I try to run pr2_controller_manager it seems to crash unless I run the roslaunch pr2_gazebo pr2.launch. But I don't want to use gazebo or the pr2 model, instead I want to use my own model. However, I don't know what I need to launch to make this work. When I try to run my controllers it freezes and doesn't spawn successfully. Here is a link to my console out and the tutorial I am working from. Hope someone can help me out!

Kind Regards, Martin