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Hi Janet,
This warning is only saying KDL does not support root links with inertia. But UWSim only uses KDL to publish the TF tree using the URDF provided to build the robot. The robot is NOT simulated through KDL so that is the reason the warning can safely ignored. I tried to find a way to hide it, but I didn't find it. In the case of UWSim is used for simulated force sensor that, obviously, need a mass to produce a simulated force, if there are no force sensors can be safely removed from URDF.
If you are experimenting a crash it should have another cause. If you provide us more information about the crash maybe we can help you ;).
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