UR5 Can't accept new action goals. Controller is not running.

edit

straight dump of log:

[rospy.client][INFO] 2019-04-03 22:19:28,946: init_node, name[/spawn_gazebo_model], pid[8891]
[xmlrpc][INFO] 2019-04-03 22:19:28,947: XML-RPC server binding to 0.0.0.0:0
[xmlrpc][INFO] 2019-04-03 22:19:28,955: Started XML-RPC server [http://yue:36913/]
[rospy.init][INFO] 2019-04-03 22:19:28,955: ROS Slave URI: [http://yue:36913/]
[rospy.impl.masterslave][INFO] 2019-04-03 22:19:28,959: _ready: http://yue:36913/
[xmlrpc][INFO] 2019-04-03 22:19:28,959: xml rpc node: starting XML-RPC server
[rospy.registration][INFO] 2019-04-03 22:19:28,960: Registering with master node http://localhost:11311
[rospy.init][INFO] 2019-04-03 22:19:29,059: registered with master
[rospy.rosout][INFO] 2019-04-03 22:19:29,059: initializing /rosout core topic
[rospy.rosout][INFO] 2019-04-03 22:19:29,062: connected to core topic /rosout
[rospy.simtime][INFO] 2019-04-03 22:19:29,063: initializing /clock core topic
[rospy.simtime][INFO] 2019-04-03 22:19:29,065: connected to core topic /clock
[rosout][INFO] 2019-04-03 22:19:29,068: Loading model XML from ros parameter
[rosout][INFO] 2019-04-03 22:19:29,073: Waiting for service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2019-04-03 22:19:29,282: topic[/rosout] adding connection to [/rosout], count 0
[rosout][INFO] 2019-04-03 22:19:30,280: Calling service /gazebo/spawn_urdf_model
[rospy.internal][INFO] 2019-04-03 22:19:30,288: topic[/clock] adding connection to [http://yue:43317/], count 0
[rosout][INFO] 2019-04-03 22:19:30,530: Spawn status: SpawnModel: Successfully spawned entity
[rosout][INFO] 2019-04-03 22:19:30,531: Waiting for service /gazebo/set_model_configuration
[rosout][INFO] 2019-04-03 22:19:30,532: temporary hack to **fix** the -J joint position option (issue #93), sleeping for 1 second to avoid race condition.

When I try to send the new goal parameter for gripper, it has the error below:

[rosout][INFO] 2019-04-03 22:19:31,533: Calling service /gazebo/set_model_configuration
[rosout][INFO] 2019-04-03 22:19:31,535: Set model configuration status: SetModelConfiguration: success
[rospy.core][INFO] 2019-04-03 22:19:31,535: signal_shutdown [atexit]
[rospy.internal][INFO] 2019-04-03 22:19:31,537: topic[/rosout] removing connection to /rosout
[rospy.internal][INFO] 2019-04-03 22:19:31,537: topic[/clock] removing connection to http://yue:43317/
[rospy.impl.masterslave][INFO] 2019-04-03 22:19:31,538: atexit
[rospy.internal][WARNING] 2019-04-03 22:19:31,538: Unknown error initiating TCP/IP socket to yue:33727 (http://yue:43317/): Traceback (most recent call last):
  File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_base.py", line 558, in connect
    self.local_endpoint = self.socket.getsockname()
AttributeError: 'NoneType' object has no attribute 'getsockname'