uys, today I tried some simple tasks on PR2 but I ran in the following problem:

I simply run my file "botharmnavigation.launch" which consists of:

<launch>
<!-- load perception -->
<include file="$(find pr2_arm_navigation_perception)/launch/laser-perception.launch"/>
<!-- load planning -->
<include file="$(find pr2_arm_navigation_planning)/launch/ompl_planning.launch"/>

<!-- load move_arm -->
<include file="$(find pr2_arm_navigation_actions)/launch/move_left_arm.launch"/>
<include file="$(find pr2_arm_navigation_actions)/launch/move_right_arm.launch"/>

<!-- load planning_environment -->
<include file="$(find pr2_arm_navigation_actions)/launch/environment_server.launch"/>

<!-- load controllers -->
<include file="$(find pr2_arm_navigation_filtering)/launch/trajectory_filter.launch"/>

<!-- load ik -->
<include file="$(find pr2_arm_navigation_kinematics)/launch/left_arm_collision_free_ik.launch"/>
<include file="$(find pr2_arm_navigation_kinematics)/launch/right_arm_collision_free_ik.launch"/>

</launch>

when I launch it on the pr2 (versus sim) I get the following warnings:

1. "Empty joint state map cache" (keeps getting printed at fast frequency)
2. "Got joint state update but did not update some joints for more than 1s" (once in a while)

Then if I try to run some tasks such as positioning one arm in a certain configuration (http://ros.informatik.uni-freiburg.de/roswiki/move_arm%282f%29Tutorials%282f%29MoveArmPoseGoal.html) or moving the base (i.e. http://www.ros.org/wiki/pr2_controllers/Tutorials/Using%20the%20robot%20base%20controllers%20to%20drive%20the%20robot) the task does does not work and just hangs.

Google didn't help that much. Do you know what it could be the reason and how to fix it?

Thanks