Problem about using turtlebot_arm with "pincher" argument

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Hi all,

I'm using ROS indigo with Ubuntu 13.10, and the phantomx pincher arm. The arbotix version is the newest one (for indigo).

Following this link "https://github.com/vanadiumlabs/arbotix_ros/pull/28/files?short_path=04c6e90", I add something like "arm_type:=pincher" after my command. For example: roslaunch turtlebot_arm_moveit_config turtlebot_arm_moveit.launch sim:=false arm_type:=pincher --screen

The good thing is: I got the phantomx pincher model in RViz. But I also got these errors:

And the planning process was always failed:

Also, noting that the arm.launch file mentions that it's could be problematic to directly pass the "pincher" arg, I also tried changing the argument in the launch file, and the outcome didn't change (I got the same errors). Could someone get me out of this problem? thanks!