Contoller Spawner and transform problem in RViz

I am building my own 4WD model and I am trying to implement 4 velocity controllers (one for each motor). The issue arises when I execute my launch file (which contains the controller_spawner node), the transforms between the base_link and the 4 wheels are non-existent. I have tried the joint_state_publisher node with the GUI (instead of the controller_spawner) and it works. However when I implement the controller_spawner node, the transforms disappear. I have made sure to download all necessary packages for ros_control. I have used the ros_control plugin in my URDF and even made sure the namespaces are all correct in the YAML, URDF and launch file. Every time I execute the launch file, I get the error: "Controller Spawner couldn't find the expected controller_manager ROS interface." Then I get the error within Rviz that there are no transforms between the base_link and the wheels. When I run rospack list | grep control I get: control_msgs /opt/ros/melodic/share/control_msgs control_toolbox /opt/ros/melodic/share/control_toolbox controller_interface /opt/ros/melodic/share/controller_interface controller_manager /opt/ros/melodic/share/controller_manager controller_manager_msgs /opt/ros/melodic/share/controller_manager_msgs diff_drive_controller /opt/ros/melodic/share/diff_drive_controller effort_controllers /opt/ros/melodic/share/effort_controllers force_torque_sensor_controller /opt/ros/melodic/share/force_torque_sensor_controller forward_command_controller /opt/ros/melodic/share/forward_command_controller gazebo_ros_control /opt/ros/melodic/share/gazebo_ros_control gripper_action_controller /opt/ros/melodic/share/gripper_action_controller imu_sensor_controller /opt/ros/melodic/share/imu_sensor_controller joint_state_controller /opt/ros/melodic/share/joint_state_controller joint_trajectory_controller /opt/ros/melodic/share/joint_trajectory_controller position_controllers /opt/ros/melodic/share/position_controllers velocity_controllers /opt/ros/melodic/share/velocity_controllers My launch file is: My YAML: monsterborg: joint_state_controller: type: joint_state_controller/JointStateController publish_rate: 50 rf_wheel_velocity_controller: type: effort_controllers/JointVelocityController joint: base_to_rf_wheel pid: {p: 1.0, i: 1.0, d: 1.0} lf_wheel_velocity_controller: type: effort_controllers/JointVelocityController joint: base_to_lf_wheel pid: {p: 1.0, i: 1.0, d: 1.0} rb_wheel_velocity_controller: type: effort_controllers/JointVelocityController joint: base_to_rb_wheel pid: {p: 1.0, i: 1.0, d: 1.0} lb_wheel_velocity_controller: type: effort_controllers/JointVelocityController joint: base_to_lb_wheel pid: {p: 1.0, i: 1.0, d: 1.0} Here is a small snippet of the URDF file for the base_link, one wheel and motor: 100000.0100000.010.010.0Gazebo/White100000.0100000.01.01.0Gazebo/Black/monsterborgtransmission_interface/SimpleTransmissionEffortJointInterfaceEffortJointInterface1 So my question is: What is missing or what am I doing wrong? Do I have to spawn the model in Gazebo first then check Rviz? I would like to tune my controllers ASAP via rqt. For the URDF file, do I need to include the ros_control plugin for every transmission tag I make (I have already done that too). Thank you for your help in advance!