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UR3 URDF modification does not load well in Gazebo

Hi all! I'm quite new to Gazebo and i'm working with an UR3. I'm trying to add an end effector that I created. I managed to make the model with the URDF file, but when I try to load it in Gazebo I get the following error:

[ERROR] [1530088013.617060575, 0.630000000]: Could not find joint 'shoulder_pan_joint' in 'hardware_interface::PositionJointInterface'.
[ERROR] [1530088013.617378163, 0.630000000]: Failed to initialize the controller
[ERROR] [1530088013.617556843, 0.630000000]: Initializing controller 'arm_controller' failed
Error when loading arm_controller
[ERROR] [1530088013.621726505, 0.631000000]: Could not start controller with name arm_controller because no controller with this name exists
Error when starting  ['arm_controller']

And i don't understand why that happens, since the shoulder_pan_joint exists and works in the original file that I modified in order to add the end effector. The model loads, but it falls down, here's a picture of it:

image description

If anyone happens to know what's the problem and how to solve it, it would help me a lot. I'm using Ros Kinetic and Ubuntu 16.04. Thank you very much in advance!