RequireJS+Angularjs+angular-ui-router 集成报错。

[jy69LrJop]

本人集成angular-1.6.4，requirejs,angular-ui-router的时候报这个错。
吧友们有没有遇到过的啊。本人怀疑是版本问题，但又不知道怎么验证，比较JS包版本控制这方面不熟悉。
下面贴代码
main.js

require.config({
	baseUrl:"/",
	paths:{
		'jquery':'lib/jquery-3.1.1.min',
		'angular':'lib/angularjs/angular',
		'angular-ui-router':'lib/angular-ui-router/angular-ui-router',
		'app':'modules/app',
	},
	shim:{
		'angular':{
			deps:['jquery']
		},
		'angular-ui-router':{
			deps:['angular']
		},
		'app':{
			deps:[
				'angular-ui-router',
			]
		},
	}
});
require(['app'],function(){
	// angular.bootstrap(document,['app']);
});

app.js

define(function(){
	var app = angular.module('app',['ui.router','core']);

	app.constant('menudt', {
		"1001":"/customerbinfo",
		"1002":"/relcustinfo",
		"2001":"/creditapproval",
		"9001":"/menumanager"
	});

	app.config(['$stateProvider','$urlRouterProvider',function($stateProvider,$urlRouterProvider) {

		$stateProvider.state({
			name:'login',
			url:'/login',
			templateUrl:'tpls/login.html',
		});
		$stateProvider.state({
			name:'home',
			url:'/home',
			templateUrl:"tpls/home.html",
		});
		$stateProvider.state({
			name:'index',
			url:'/index',
			component:'index',
		});

		$urlRouterProvider.otherwise('/index');
	}]);

	require(['controllers/references'],function(references){
		require(references,function(){
			angular.bootstrap(document,['app','core']);
		});
	});
});

core.js

define(function(){
	var core = angular.module('core',[]);
	core.component('index',{
		template:'<h1>....</h1>',
		controller:'CoreController',
	});
	core.service('validate', ['$http', function($http){
		this.login = function(successFunc){
			$http.get("/server/valilogin?r"+Math.random(),{
				cache:false,
			}).then(successFunc,function(response){
			});
		};
	}]);

	core.service('getdata', ['$http', function($http){
		this.getmenudt = function(successFunc){
			$http.get("/data/menu.json",{headers:{
				'Content-Type':'application/json'
			},cache:false}).then(successFunc,function(response){
				console.log(response)
			});
		};
	}]);

	core.controller('CoreController', ['$scope','$location','validate','getdata',
	function($scope,$location,validate,getdata){
		validate.login(function(response){
			var rs = response.data
			if(rs.Result != null){
				if (rs.Result == "error" ){
					$location.path("/login")
				} else {
					//$location.path("/home")
				}
			}
		});

	}]);
});

references.js

define(function(){
	return [
	'controllers/core',
	];
});

各位大大求救啊。困扰了一周了！！！
完整错误：
angular.js:14525 TypeError: Cannot read property 'noop' of undefined
at Object.<anonymous> (angular-ui-router.js:9719)
at angular.js:1346
at invokeLinkFn (angular.js:10426)
at nodeLinkFn (angular.js:9815)
at compositeLinkFn (angular.js:9055)
at publicLinkFn (angular.js:8920)
at lazyCompilation (angular.js:9311)
at updateView (angular-ui-router.js:9668)
at Object.<anonymous> (angular-ui-router.js:9615)
at angular.js:1346 "<div ui-view="" class="ng-scope">"