moveit Failed to call service get_planning_scene

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Hi all,

I'm using Moveit to control a turtle arm on a turtlebot. I want to use the kinect on turtlebot for perception. I followed the perception tutorials to setup the yaml and launch files, but I can't get octomap in RViz. I can still plan a path though, just without any information from the environment.

When I'm starting the camera and then start the moveit, the part of output I believe that is related is as following:

[ INFO] [1542892231.060107356]: Loading robot model 'turtlebot'...
[ INFO] [1542892238.874967176]: Using planning interface 'OMPL'
[ INFO] [1542892239.110417144]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1542892239.490668958]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1542892239.720272956]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1542892240.192941838]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1542892240.446976426]: Param 'jiggle_fraction' was set to 0.05
[ WARN] [1542892240.475931732]: [image_transport] Topics '/camera/depth_registered/image_raw' and '/camera/depth_registered/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      18
    CameraInfo messages received: 263
    Synchronized pairs:           0
[ INFO] [1542892240.730520809]: Param 'max_sampling_attempts' was not set. Using default value: 100
[ INFO] [1542892240.730652536]: Using planning request adapter 'Add Time Parameterization'
[ INFO] [1542892240.730686255]: Using planning request adapter 'Fix Workspace Bounds'
[ INFO] [1542892240.730709452]: Using planning request adapter 'Fix Start State Bounds'
[ INFO] [1542892240.730730508]: Using planning request adapter 'Fix Start State In Collision'
[ INFO] [1542892240.730760984]: Using planning request adapter 'Fix Start State Path Constraints'
[ INFO] [1542892241.636168685]: Loading robot model 'turtlebot'...
[ INFO] [1542892246.831242386]: Added FollowJointTrajectory controller for arm_controller
[ INFO] [1542892246.831393129]: Returned 1 controllers in list
[ INFO] [1542892249.116548731]: Starting scene monitor
[ WARN] [1542892250.476377562]: [image_transport] Topics '/camera/depth_registered/image_raw' and '/camera/depth_registered/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      19
    CameraInfo messages received: 297
    Synchronized pairs:           0
[ INFO] [1542892250.689720358]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1542892251.107535720]: waitForService: Service [/get_planning_scene] has not been advertised, waiting...
[ INFO] [1542892252.256660823]: Trajectory execution is managing controllers
[ INFO] [1542892256.244297990]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.15/planning_scene_monitor/src/planning_scene_monitor.cpp:498
Loading 'move_group/ApplyPlanningSceneService'...
Loading 'move_group/ClearOctomapService'...
Loading 'move_group/MoveGroupCartesianPathService'...
Loading 'move_group/MoveGroupExecuteTrajectoryAction'...
[ WARN] [1542892260.475968817]: [image_transport] Topics '/camera/depth_registered/image_raw' and '/camera/depth_registered/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      21
    CameraInfo messages received: 305
    Synchronized pairs:           0
[ INFO] [1542892261.431886845]: Constructing new MoveGroup connection for group 'arm' in namespace ''
Loading 'move_group/MoveGroupGetPlanningSceneService'...
Loading 'move_group/MoveGroupKinematicsService'...
Loading 'move_group/MoveGroupMoveAction'...
Loading 'move_group/MoveGroupPickPlaceAction'...

It complains about two things, the first one is the depth image and camera info are not synchronized. I don't know how to solve this because those are published by the kinect driver. The second problem is it "Failed to call service get_planning_scene". Please help me on this. How can I get the perception working in moveit?

Thank you!!!