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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