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It seems that I had a problem with my graphic drivers.

  1. I tried "glxinfo | grep OpenGL" and the result was "Error: couldn't find RGB GLX visual or fbconfig"
  2. I googled it, and I found this: "http://askubuntu.com/questions/475972/error-couldnt-find-rgb-glx-visual-or-fbconfig-ubuntu-12-04"
  3. Finally, I could run "glxinfo | grep OpenGL", and I could load the .urdf in moveit_setup_assistant.

I could run the "demo.launch" when I finished the tutorial(I never before could do this), too.