The error is exactly what your error log says:
'*** -[__NSArrayM insertObject:atIndex:]: object cannot be nil'
You are trying to insert an object to an array and that object is nil. In this particular case, it's this line that's causing problem:
[self.view addGestureRecognizer:self.revealViewController.panGestureRecognizer];
You will need to alloc self.revealViewController.panGestureRecognizer
first before adding it as the view's gesture recognizers.
One way to alloc the gesture recognizer:
UIPanGestureRecognizer *gesture = [[UIPanGestureRecognizer alloc] initWithTarget:self action:@selector(someMethod:)];
[self.view addGestureRecognizer:gestureRecognizer];