Gzserver franka_hw_sim assertion failed with dingo

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Hi Everyone, I am using Ubuntu 20.04 with Ros Noetic. I am using nVidia GTX 1660 Ti with 418 driver.

I am trying to create a gazebo simulation with Clearpath dingo robot and panda franka emika packages (https://github.com/dingo-cpr/dingo noetic-devel branch and https://github.com/frankaemika/franka...) but I am not able to deal with an error which made gazebo crash. But I am convinced that error is relevant to both packages together, not gazebo itself.

Launch file:

<launch>
  <!-- node for platform -->
  <arg name="config" default="$(optenv DINGO_CONFIG front_laser)" />
  <arg name="use_sim_time" default="true" />
  <arg name="gui" default="true" />
  <arg name="headless" default="false" />
  <arg name="world_name" default="$(find gazebo_ros)/worlds/empty_world.world" />
  <arg name="arm_id" default="panda"/>
  <arg name="arm_namespace" default="panda"/>
  <!-- <arg name="x"         default="0"/>
  <arg name="y"         default="0"/>
  <arg name="z"         default="0.1"/>
  <arg name="yaw"       default="0"/> -->

  <!-- <rosparam command="load" file="$(find dingo_gazebo)/config/control_omni.yaml" /> -->

  <param name="robot_description"
    command="$(find dingo_description)/scripts/env_run
    $(find dingo_description)/urdf/configs/$(arg config)
    $(find xacro)/xacro $(find mobile-platform)/urdf/mobile-platform.urdf.xacro" />

  <rosparam file="$(find franka_gazebo)/config/franka_hw_sim.yaml" subst_value="true" />
  <rosparam file="$(find franka_gazebo)/config/sim_controllers.yaml" subst_value="true" />
  <rosparam command="load" file="$(find dingo_gazebo)/config/gains_omni.yaml"/>

  <param name="m_ee" value="0.76" />  

  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" /> 
  <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
    <rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
    <param name="rate" value="30"/>
  </node>  



  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model"
        args="-urdf -model mobile_platform -param robot_description" />
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
      <arg name="debug" value="0" />
      <arg name="gui" value="$(arg gui)" />
      <arg name="use_sim_time" value="$(arg use_sim_time)" />
      <arg name="headless" value="$(arg headless)" />
      <arg name="world_name" value="$(arg world_name)" />
      <arg name="paused" value="false"/>
  </include>
</launch>

Xacro file which I am using

<?xml version="1.0"?>
<robot name="mobile_platform" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <xacro:include filename="$(find dingo_description)/urdf/dingo.urdf.xacro"/>
  <xacro:include filename="$(find franka_description)/robots/panda/panda.urdf.xacro"/>
</robot>

The errors which I got when launching this file

gzserver: /home/marabir/catkin_ws/src/human-assistant/src/franka_ros/franka_gazebo/src/franka_hw_sim.cpp:215: virtual bool franka_gazebo::FrankaHWSim::initSim(const string&, ros::NodeHandle, gazebo::physics::ModelPtr, const urdf::Model*, std::vector<transmission_interface::TransmissionInfo>): Assertion `this->vji_.getNames().size() == 7' failed.
[spawn_urdf-4] process has finished cleanly

log file: /home/marabir/.ros/log/7507e654-7b38-11ed-a8fe-4bc19181c641/spawn_urdf-4*.log
Aborted (core dumped)

[gazebo-5] process has died [pid 21750, exit code 134, cmd /home/marabir/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/scripts/gzserver -e ode /home/marabir/catkin_ws/src/gazebo_ros_pkgs/gazebo_ros/worlds/empty_world.world __name:=gazebo __log:=/home/marabir/.ros/log/7507e654-7b38-11ed-a8fe-4bc19181c641/gazebo-5.log].

I am able to launch gazebo with my file while including in xacro robots separately ... (more)