Gimbal not working in X4 robot

I tried to add gimbal mechanism in X4 robot by modifying some x4 robot xacro but i'm always getting msg" Controller Spawner couldn't find the expected controller_manager ROS interface." In x4_with_sensors.xacro file i added transmission element and gazebo_ros_control plugin as: transmission_interface/SimpleTransmissionhardware_interface/EffortJointInterfacehardware_interface/EffortJointInterface1gazebo_ros_control/DefaultRobotHWSim than i loaded configuration for this joint from a file like: x4_with_sensors: # 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: front_laser_mount_joint pid: {p: 100.0, i: 0.01, d: 10.0} than i loaded it from a launch file with lines: