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Hi!,

I think that there is some problem with the urdf files for the pr2_robot. Probably the urdf files from the pr2_package you downloaded, are too old for the Gazebo version you are using. I think its a similar problem as the one asked here http://answers.ros.org/question/200497/cant-spawn-model-in-gazebo/

So i think the solution could be to make sure you are using the latest version of the pr2 package, and the ones that match the ubuntu version you have.

I hope this helps you!