Actually, you should be able to remove the object on collision. However, there are several physics actions which you can NOT do at the exact time of collision… this is because Box2D is still working out the “math” involved with the collision, and needs to finish that before it can proceed to the next step. If you get that warning/error, you’re attempting one of those physics actions.
The solution is simple enough: you just need to perform the action after a tiny, almost imperceptible timer of 10-20 milliseconds, using “timer.performWithDelay()” (seek this out in the documentation). This allows Box2D to complete its processing, and then on the next game cycle, you can perform the physics action you need.