Issue running example script in Harmonic

[Apurv354]

I am trying to run this - https://control.ros.org/master/doc/gz_ros2_control/doc/index.html

My Setup
Ubuntu - 22.04
Ros Iron

I am using the iron branch in ros_gz and building it from the source.

Getting this error when I try to connect to the controller.

[ruby $(which gz) sim-1] [INFO] [1706239499.120219957] [controller_manager]: Loading controller 'joint_trajectory_controller'
[ruby $(which gz) sim-1] [ERROR] [1706239499.120340276] [controller_manager]: Loader for controller 'joint_trajectory_controller' (type 'joint_trajectory_controller/JointTrajectoryController') not found.
[ruby $(which gz) sim-1] [INFO] [1706239499.120398463] [controller_manager]: Available classes:
[ruby $(which gz) sim-1] [INFO] [1706239499.120432039] [controller_manager]:   controller_manager/test_controller
[ruby $(which gz) sim-1] [INFO] [1706239499.120452485] [controller_manager]:   controller_manager/test_controller_failed_init
[ruby $(which gz) sim-1] [INFO] [1706239499.120469056] [controller_manager]:   controller_manager/test_controller_with_interfaces
[ruby $(which gz) sim-1] [INFO] [1706239499.120490738] [controller_manager]:   controller_manager/test_chainable_controller