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Hello I managed to use libgazebo_ros_vacuum_gripper with my robot after a few hours of trying. First Change the joint to revolute. Remove the collision from the vacuum gripper (carriage in your robot). Let it go through the object. Then turn on the gripper using grasping service.

Set mu1 and mu2 for the grasping surfaces. In your case the parent link of the gripper(the link which the object will touch when suction is happening) and the grasping object. If you are using PositionJointInterface for your robot, then add kp and kd values for both touching surfaces.

Ex:

<gazebo reference="box">
    <material>Gazebo/Blue</material>
    <mu1>10</mu1>
    <mu2>10</mu2>
    <minDepth>0.003</minDepth>
    <maxVel>0</maxVel>
    <kp>1000000.0</kp>
    <kd>1.0</kd>
</gazebo>

Check these answers- PositionJointInterface issue when gripping Use this as a guideline when using vacuum gripper - ur5 with vacuum gripper