Problem with gazebo launch with [/controller_manager/...]

Hi all ROS users, My system is Linux-mint(16.04), ROS Kinetic 1.12.12 I made a my gazebo launch file:  it looks like good work, but there are some problem. That is: [ INFO] [1519277544.787530619, 0.361000000]: Starting gazebo_ros_control plugin in namespace: /Loaded l_arm_controller_dual [ERROR] [1519277544.923244209, 0.361000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/list_controllers] [ERROR] [1519277544.923498348, 0.361000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/list_controller_types] [ERROR] [1519277544.923590196, 0.361000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/load_controller] [ERROR] [1519277544.923654401, 0.361000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/unload_controller] [ERROR] [1519277544.923720687, 0.361000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/switch_controller] [ERROR] [1519277544.923800040, 0.361000000]: Tried to advertise a service that is already advertised in this node [/controller_manager/reload_controller_libraries] [ INFO] [1519277544.923897790, 0.361000000]: Loaded gazebo_ros_control. [INFO] [1519277544.924636, 0.361000]: Controller Spawner: Waiting for service controller_manager/switch_controller And, the gazebo launch file is: Here, violin_dual_world.launch ---------- In there, "dual_arm_l_controller.launch" and " dual_arm_r_controller.launch" are as follow: dual_arm_l_controller.launch dual_arm_r_controller.launch dual_arm_joint_state_controller.launch ---------- My goal is based on these gazebo launch, I want to moveit rviz plan --> execute to gazebo simulation like this: [https://www.youtube.com/watch?v=1Huhevm2dOM](https://www.youtube.com/watch?v=1Huhevm2dOM) Please help me. Thank you.