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Sounds like the collision map processing service crashed? There's not nearly enough info to tell what happened. Does this happen every time you run? Simulated or real robot? Electric or Fuerte? Did you launch the robot and pr2_tabletop_manipulation.launch first?

If you post a copy of the entire terminal output from where you launched pr2_tabletop_manipulation.launch and also where you ran the tutorial program online someplace and put a link in your comment, I'll take a peek and give you my best guess about what's going wrong.

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