Planning Description Configuration Wizard not launching

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In the process of doing the Planning Description Configuration Wizard tutorial I am running

roslaunch planning_environment planning_description_configuration_wizard.launch urdf_package:=planning_models urdf_path:=test_urdf/robot.xml

as per the instructions. However, I recieve the error:

/opt/ros/electric/stacks/arm_navigation/planning_environment/bin/planning_description_configuration_wizard: error while loading shared libraries: libvtkIO.so.5.4: cannot open shared object file: No such file or directory [planning_description_configuration_wizard-3] process has died [pid 12506, exit code 127]. log files: /home/robbie/.ros/log/742288a6-0cb4-11e1-a787-001ec936b097/planning_description_configuration_wizard-3*.log

I am running ROS Electric on Ubuntu 11.10. I have tried copying the libvtk 5.6 library files in /usr/lib to have the 5.4 extension, but this results in a symbol not found error. I also tried downloading the source for VTK 5.4, compiling it with shared libraries enabled, and copying the creating library files into /usr/lib, but this also resulted in an error.

I am new to ROS, so any help would be much appreciated.