My MoveIt planned robot moves with rviz but not in gazebo

Hello, i used moveit setup assistant to generate config and controller manager files of my robot as it is requested here to work with gazebo : http://picknik.ai/moveit_wiki/index.php?title=PR2/Gazebo/Quick_Start and then when i launch both gazebo and rviz, i am able to move my arm depending on where i move the blue ball in rviz. But gazebo doesn't follow... ---------- Also i have an error displayed in the gazebo dedicated shell : ERROR: cannot launch node of type [play_motion/play_motion]: play_motion , A warning about a root link base_link which has an inertia in the URDF that KDL doesn't like, A deprecation warning that the parameter 'allowed_execution_duration_scaling' moved into namespace 'trajectory_execution', please adjust Some not fatal error about a camera service but we don't care, AND ANYWAY it goes through the initialization and tells me that i can start planning now. ---------- By the side of the rviz dedicated shell : a deprec warning : trajectory execution service is deprecated (was replaced by an action). Please replace 'MoveGroupExecutiveService' with 'MoveGroupExecuteTrajectoryAction' in move_group.launch and a warning about EE:goal_grasping_frame which contains unnormalized quaternions, please enable DEBUG messages for ros.rviz.quaternions to see more details. ---------- Also here is the rqt_graph : http://www.allo-image.net/image-203252-Rosgraph.html and some lists of what rostopic rosnode is running : https://www.petit-fichier.fr/2018/05/10/debug/