Error with control_manager

I’m stuck trying to control mira in the exercise U2-3.
I cannot see the topics to control mira after upload it into gazebo with gazebo_ros spawn_model.
I’m getting the following error

[WARN] [1597582432.264651, 135.514000]: Controller Spawner couldn’t find the expected controller_manager ROS interface.

The code is available here
I’m executing this exercise with roslaunch my_mira_description start_mira_with_controllers.launch.
I will appreciate any help.

@duckfrost can you take a look?