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rxconsole should be giving you useful output, and the tutorial may be out of date for running on the robot. We had a good deal of success with people following the procedure outlined in this tutorial document: IROS tutorial document .

Note that if you look in the planning_scene_warehouse_viewer_pr2_only.launch file it specifically also sets the warehouse_host parameter, so your rosparam set is being overwritten. You'll need to edit the launch file to connect to a warehouse that's running on another machine. So I expect that's the problem - and that the rxconsole output will say something like "Connecting to warehouse..." forever. But it could also be something else - generally rxconsole will show useful debugging information whatever the problem.