I know your question was some time ago, but you didn't indicate whether the first reply answered it, so here's my $0.02...
Anyway, the first responder told you how to get a message from within a view, but you asked about getting a message from within a controller. This is easy from within a SimpleFormController or indeed any ApplicationContextAware class:
Code:
Object[] messageArgs = {"My arg one","My arg two"}; // if you need them, otherwise pass null
String message = getApplicationContext().getMessage("my.message.code", messageArgs, "My Default Message", request.getLocale());
Hope this helps,
Andrew