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Patrick, it looks as though you aren't running the turtlebot_arm_bringup/fake_pub.py in your simulation, please take a look at the "fake-arm.launch" file in turtlebot_arm_bringup, it has a line with:

  <node pkg="turtlebot_arm_bringup" type="fake_pub.py" name="fake_pub" />

You need to be publishing ALL joints or the planning environment won't start. You'll also need this on the real robot if you aren't actually connecting the iRobot Create.