TF quiz error with loading controllers

I am doing the Tf quiz and I am getting this error:
Failed to start controllers: head_pan_joint_position_controller, left_shoulder_forward_joint_position_controller, joint_state_controller

I am wondering if there info missing from the Cmakelists and the xml files
such as joint_state_publisher

I attached images of my launch file

and yaml file

So there are some issues here.

  1. First, there is no need to put **joint_state_controller two times.
  2. The head_pan cntroller is note there defined in the yaml file.

Please post the whole code here so we can test it.