Collapse in gazebo with newly created package

[Cody-Vu]

Hello everyone,

I created a new panda_moveit_config according to the moveit tutorial with moveit setup assistant. But when I run roslaunch panda_moveit_config demo_gazebo.launch I receive this warning:
[ WARN] [1741005691.311389576]: The root link panda_link0 has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.

and that the

[controller_spawner-5] process has died [pid 10717, exit code 2, cmd /opt/ros/noetic/lib/controller_manager/spawner __name:=controller_spawner __log:=/home/imt-vr/.ros/log/f422025c-f82d-11ef-b932-c37ec9b96694/controller_spawner-5.log].
log file: /home/imt-vr/.ros/log/f422025c-f82d-11ef-b932-c37ec9b96694/controller_spawner-5*.log

Also the robot collapses in gazebo (see picture below).

Doesn't the existing panda_moveit_config from the moveit tutorial uses the same urdf from franka_description as I do for creating a new one with moveit setup assistant? But with the existing package panda_moveit_config demo_gazebo starts without issues. When I run my new package on the real robot there is no issue but I'd like to use gazebo for simulation as well. Does someone knows on how to fix it and wether the collapse is because the controller manager died or because of the root link inertia?

Thanks in advance!

[rhaschke]

The URDF/KDL warning is just a warning. You can ignore it.
The process that died is the controller spawner, not the controller manager. In any case, that shouldn't happen.
Compare your's and panda_moveit_config's controller configuration.