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I had the same problem, but using my custom robot. Found that 1.9/Using_roslaunch_Files_to_Spawn_Models helps to build and launch a model with last Gazebo version. So probably modifying the pr2 launch to match the tutorial guide will work.
It seems that I have not enought karma to post links. You will find all the info in Gazebos wiki, just look for this specific tutorial.
Any way, I was using grooby-destop-ull and I needed to uninstall ROS and install the grooby-desktop alone release. Add by hand some needed packages and install from source Gazebo and gazebo-ros-package. I followed Gazebo wiki instructions for that. If not, there was no way of get gazebo working from ros...
Now I get this error as you to: Robot model not loaded, and: Planning scene not configured
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