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Unable to load controller into parameter server

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