Can't get interactive markers working in pr2_interactive_manipulation package [closed]

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Hi all, I want to run pr2_interactive_manipulation in a real robot, but it seems pretty broken. I just used it two months ago, but I don't know why it is not work now.

see the output at https://gist.github.com/pxlong/2d3aae... after I running: roslaunch pr2_interactive_manipulation pr2_interactive_manipulation_robot.launch nav:=true

see the output at https://gist.github.com/pxlong/eb81e6... after I running: roslaunch pr2_interactive_manipulation_frontend pr2_interactive_manipulation_desktop.launch nav:=true

the rviz appears but I can not interact with the robot - no interactive markers appear anywhere.

And the fixed frame (/map) does not exist, and I manually change it to /base_link (I run the both launch file wit nav:=true).

Note that you can see the output of robot.launch, the output just cycles the following info over and over...

" Waiting for service environment_server/get_robot_state waitForService: Service [/environment_server/get_robot_state] has not been advertised, waiting... "

Can you help me fix this to get interactive markers working? Thank you very much.