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I had the same issue, and that comes from an outdated version of the robot description. I'm currently adapting the old files to the new conventions.

First of all, you have to review the format :

<controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">

should be adapated to:

<plugin name="ros_control" filename="libgazebo_ros_control.so">

Then, you need to check the plugins, as some may be no longer supported (the one from above is OK).