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it gives me some errors and says

[spawn_gazebo_model-4] process has finished cleanly
[joint_state_controller_spawner-7] process has finished cleanly
[arm_controller_spawner-8] process has finished cleanly

these are not errors, but merely informative messages telling you that those nodes have cleanly exited.

Everything seems to be working as it should.

it gives me some errors and says

[spawn_gazebo_model-4] process has finished cleanly
[joint_state_controller_spawner-7] process has finished cleanly
[arm_controller_spawner-8] process has finished cleanly

these are not errors, but merely informative messages telling you that those nodes have cleanly exited.

Everything seems to be working as it should.

[spawn_gazebo_model-4] process has finished cleanly

this node is only responsible for spawning (adding) the robot in the Gazebo world. As soon as it's done, it's no longer needed.

[joint_state_controller_spawner-7] process has finished cleanly

As the name implies (_spawner), this one also only is needed to load a controller. Once the controller is loaded, it's job is done.

[arm_controller_spawner-8] process has finished cleanly

And the same for this one.

Nodes can shut down and not be in error. That's perfectly OK.

it gives me some errors and says

[spawn_gazebo_model-4] process has finished cleanly
[joint_state_controller_spawner-7] process has finished cleanly
[arm_controller_spawner-8] process has finished cleanly

these are not errors, but merely informative messages telling you that those nodes have cleanly exited.

Everything seems to be working as it should.

[spawn_gazebo_model-4] process has finished cleanly

this node is only responsible for spawning (adding) the robot in the Gazebo world. As soon as it's done, it's no longer needed.

[joint_state_controller_spawner-7] process has finished cleanly

As the name implies (_spawner), this one also only is needed to load a controller. Once the controller is loaded, it's job is done.

[arm_controller_spawner-8] process has finished cleanly

And the same for this one.

Nodes can shut down and not be in error. That's perfectly OK.


Edit:

The thing is they exit without me killing them with ctrl+c

they are supposed to.

You can see there are a few errors in the roslaunch output

If you are referring to the "no p gain specified for pid." then those are also not fatal and things will still work.

The Gazebo plugin has changed, but has remained bw-compatible. Refer to ros-industrial/universal_robot#443 for some more context.