update system, robot_state_publisher process always die

edit

Hi, all

I have meet a strange problem. I just update something in my system yesterday under the upgrade pushing notify and also used the command sudo apt-get update , But today all my ros project with rviz simulation can not work. These ros project do work well before.The phenomenon can be seen as follows.

system:ROS indigo
robot_state_publisher : ros-indigo-robot-state-publisher ,version: 1.10.4-0trusty-20150430-1718-+0000
joint_state_publisher: ros-indigo-joint-state-publisher, version:1.11.7-0trusty-20150429-0827-+0000

 1. roslaunch SIA20_moveit_config  moveit_planning_execution.launch

started roslaunch server http://XXX-ThinkPad-T500:47915/
SUMMARY
========
PARAMETERS
 * /controller_joint_names: ['joint_s', 'join...
 * /mongo_wrapper_ros_XXX_ThinkPad_T500_9935_3121796978277564489/database_path: /home/XXX/industr...
 * /mongo_wrapper_ros_XXX_ThinkPad_T500_9935_3121796978277564489/overwrite: False
 * /move_group/allow_trajectory_execution: True
 * /move_group/capabilities: move_group/MoveGr...
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: pr2_controller_ma...
 * /move_group/controller_manager_ns: pr2_controller_ma...

..............................

[robot_state_publisher-4] process has died [pid 10035, exit code -11, cmd /home/XXX/catkin_ws/devel/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/XXX/.ros/log/72142730-009f-11e5-9cf8-00226811834c/robot_state_publisher-4.log].
log file: /home/XXX/.ros/log/72142730-009f-11e5-9cf8-00226811834c/robot_state_publisher-4*.log

the moveit rviz GUI can be seen as followed.the GUI shows

Global Status:warn
Fixed frame: no tf data. Actual error: Fixed Frame[base_link] does not exist**

But this is warning is incredible,you know the project can work well before, then I recheck the *.srdf file. I have fixed the base_link:

 virtual_joint name="FixedBase" type="fixed" parent_frame="world" child_link="base_link"

I have no idea about that,So, I check the system in-build pr2's demo.launch. the pr2 can also work well before

2. roslaunch pr2_moveit_config   demo.launch

process[robot_state_publisher-4]: started with pid [27667]
[ WARN] [1432314173.999282162]: TF to MSG: Quaternion Not Properly Normalized

[robot_state_publisher-4] process has died [pid 27667, exit code -11, cmd /home/XXX/catkin_ws/devel/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/XXX/.ros/log/21c9d20c-00a4-11e5-bb8c-00226811834c/robot_state_publisher-4.log].
log file: /home/XXX/.ros/log/21c9d20c-00a4-11e5-bb8c-00226811834c/robot_state_publisher-4*.log

[robot_state_publisher-4] restarting process
process[robot_state_publisher-4]: started with pid [27692]
[ WARN] [1432314174.317632982]: TF to MSG: Quaternion Not Properly Normalized

[robot_state_publisher-4] process has died [pid 27692, exit code -11, cmd /home/XXX/catkin_ws/devel/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/XXX/.ros/log/21c9d20c-00a4-11e5-bb8c-00226811834c/robot_state_publisher-4.log].
log file: /home/XXX/.ros/log/21c9d20c-00a4-11e5-bb8c-00226811834c/robot_state_publisher-4*.log

[robot_state_publisher-4] restarting process........................

what is the matter with this. I have searched the internet try my best, but no problems seem like this.

so I try to update again
XXX@XXX-ThinkPad-T500:~$ sudo apt-get update
[sudo] password for XXX: 
Ign http://dk.archive.ubuntu.com trusty InRelease
Ign http://dk.archive.ubuntu.com trusty-updates InRelease                      
Ign http://security.ubuntu.com trusty-security InRelease                       
Ign http://ppa.launchpad.net trusty InRelease                                  
Ign http://dk.archive.ubuntu.com trusty-backports InRelease                    
Hit http://dk.archive.ubuntu.com trusty Release.gpg                            
Hit http://ppa.launchpad.net trusty Release.gpg                                
Get:1 http://security.ubuntu.com trusty-security Release.gpg [933 B]           
Get:2 http://dk.archive.ubuntu.com trusty-updates Release.gpg [933 B]          
Get:3 http://dk.archive.ubuntu.com trusty-backports Release.gpg [933 B]        
Get:4 http://security.ubuntu.com trusty-security Release [63,5 kB]             
......   
Hit http://dk.archive.ubuntu.com trusty-backports/restricted Translation-en    
Hit http://dk.archive.ubuntu.com ...