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Unable to load controller into parameter server

How do you load your controller via rosservice?

I'm trying to follow the ROS Control tutorial but I'm getting stuck at the step:

rosservice call /rrbot/controller_manager/load_controller "name: 'joint1_position_controller'"

which gives me the error:

ERROR: Service [/rrbot/controller_manager/load_controller] is not available.

Is there some step missing? If I try to run that while the two other roslaunch commands are still running, I get a different error:

ok: False
Exception in thread Thread-3 (most likely raised during interpreter shutdown):
Traceback (most recent call last):
  File "/usr/lib/python2.7/threading.py", line 810, in __bootstrap_inner
  File "/usr/lib/python2.7/threading.py", line 763, in run
  File "/opt/ros/indigo/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 154, in run
<type 'exceptions.AttributeError'>: 'NoneType' object has no attribute 'timeout'

If I try to re-run that, sometimes I only get the "ok: False" and no traceback. Does the "ok: False" still indicate an error?

What am I doing wrong?