I am trying to replicate this MoveIt tutorial with my own robot (a KUKA KR5 manipulator), when I run the code only with RViz the robot moves without any problem and executes the pick and place operation, but when I do the simultaneous simulation with Gazebo the robot starts to move and out of nowhere "explodes", just after that the following appears in the terminal:
Apparently there is a bug with one of the fingers of the end effector, but I don't understand exactly what the problem is. The simulators stay the same as in the image below after my code dies (the finger stays flying).
Does anyone know what is causing this error? Do I have to modify something in my URDF file or some other file that MoveIt Setup Assistant generates? This is my first time using an end effector.
