Just keep trying. It happens to me and my coop partner a lot. If the other team quits or disconnects before the loading screen happens you'll get this error. It also just happens so if you try again after closing the game or restarting console you should be able to get back in. It's a pain but just a glitch in MOST cases.
E
EmoKilla13_XBL
@EmoKilla13_XBL
Topics
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Co-op ranked not working?
Locked Co-op -
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The Elusive Trout
Locked Diamond Dynasty -