Problem with moveit_commander interface; trying to plan trajectories for ur5 simulation with Gazebo

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Hello,

I apologise in advance, for I am very new to programming with ROS.

I have been trying to connect to a simulated ur5 through gazebo and control it in python using the moveit_commander interface.

After attempting to write a simple script for controlling the ur5 gazebo simulation using moveit_commander interface I'm receiving the following errors, firstly in the script terminal window and secondly in the terminal running the moveit_planning _execution node:

[ WARN] [1456503108.574669066, 548.823000000]: Joint values for monitored state are requested but the full state is not known
joint_state: 
  header: 
    seq: 0
    stamp: 
      secs: 0
      nsecs: 0
    frame_id: /world
  name: ['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint', 'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']
  position: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
  velocity: []
  effort: []
multi_dof_joint_state: 
  header: 
    seq: 0
    stamp: 
      secs: 0
      nsecs: 0
    frame_id: /world
  joint_names: []
  transforms: []
  twist: []
  wrench: []
attached_collision_objects: []
is_diff: False
============
============ Generating plan 1
[ WARN] [1456503113.598260823, 551.508000000]: Fail: ABORTED: No motion plan found. No execution attempted.
============ Waiting while RVIZ displays plan1...
============ Visualizing plan1
============ Waiting while plan1 is visualized (again)...
terminate called after throwing an instance of 'class_loader::LibraryUnloadException'
  what():  Attempt to unload library that class_loader is unaware of.
Aborted (core dumped)

All is well! Everyone is happy! You can start planning now!

[ INFO] [1456502653.160737839, 126.273000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1456502653.162058984, 126.273000000]: No planner specified. Using default.
[ INFO] [1456502653.162381392, 126.273000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ERROR] [1456502658.169349483, 130.953000000]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1456502658.170807752, 130.957000000]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1456502658.171010925, 130.957000000]: No solution found after 5.008731 seconds
[ INFO] [1456502658.209078107, 130.983000000]: Unable to solve the planning problem
[ INFO] [1456502658.216058459, 130.990000000]: Received new trajectory execution service request...
[ WARN] [1456502658.216106023, 130.991000000]: The trajectory to execute is empty
[ INFO] [1456503008.235511782, 473.390000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1456503008.235972587, 473.390000000]: No planner specified. Using default.
[ INFO] [1456503008.236136625, 473.390000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ERROR] [1456503013.247658046, 477.166000000]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1456503013.249219738, 477.172000000]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1456503013.249677542, 477.172000000]: No solution found after 5.013654 seconds
[ INFO] [1456503013.253513681, 477.174000000]: Unable to solve the planning problem
[ INFO] [1456503013.260155299, 477.178000000]: Received new trajectory execution service request...
[ WARN] [1456503013.260188972, 477.179000000]: The trajectory to execute is empty
[ INFO] [1456503108.575331207, 548.823000000]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO] [1456503108.575958594, 548.823000000]: RRTConnect: Starting planning with 1 states already in datastructure
[ERROR] [1456503113.584912230, 551.502000000]: RRTConnect: Unable to sample any valid states for goal tree
[ INFO] [1456503113.587574652, 551.504000000]: RRTConnect: Created 1 states (1 start + 0 goal)
[ INFO] [1456503113.591495319, 551.505000000]: No solution found after 5.015622 seconds
[ INFO ...