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I solved this problem by assuming that the call to kinematic_state was failing and replaced with:

  move_group = new moveit::planning_interface::MoveGroupInterface(PLANNING_GROUP);
  joint_model_group = move_group->getCurrentState()->getJointModelGroup(PLANNING_GROUP);
  const std::vector<std::string>& joint_names = joint_model_group->getVariableNames();
  std::vector<double> joint_values;

  moveit::core::RobotStatePtr current_state = move_group->getCurrentState();
  current_state->copyJointGroupPositions(joint_model_group, joint_values);

  for (std::size_t i = 0; i < joint_names.size(); ++i) {
    ROS_INFO("Joint %s: %f", joint_names[i].c_str(), joint_values[i]);
  }