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Gripper tag with gazebo11

Hi there! Anyone has used the gripper tag with the latest gazebo versions? The "newest" article I've found was with gazebo7

However, if I add the following code

 <gazebo>
  <gripper name="grasping">
    <grasp_check>
      <attach_steps>20</attach_steps>
      <detach_steps>40</detach_steps>
      <min_contact_count>1</min_contact_count>
    </grasp_check>
    <gripper_link>outer_jaw</gripper_link>
    <gripper_link>inner_jaw</gripper_link>
    <palm_link>tool_center</palm_link>
  </gripper>
</gazebo>

I'll get this error

gzserver: /usr/include/boost/smart_ptr/shared_ptr.hpp:734: typename boost::detail::sp_member_access<T>::type boost::shared_ptr<T>::operator->() const [with T = gazebo::physics::Link; typename boost::detail::sp_member_access<T>::type = gazebo::physics::Link*]: Assertion `px != 0' failed.

When I only define one gripper_link and the palm_link gazebo starts, but I do not see any effect of the gripper code (no "__gripper_fixed_joint__" or similar)

Am I using the tag in a wrong way, or is this function broken?