simulate a Stanley segway RMP210 in Gazebo

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Hello,

I'm a new hand using ROS indigo. Now I'm trying to simulate a segway (Stanley RMP210) in Gazebo and control it moving on the screen. I've downloaded these packages: cd ~/segway_ws/src

git clone https://github.com/StanleyInnovation/segway_v3.git

git clone https://github.com/StanleyInnovation/segway_v3_robot.git

git clone https://github.com/StanleyInnovation/segway_v3_desktop.git

git clone https://github.com/StanleyInnovation/segway_v3_simulator.git

Then I try to follow other tutorials and run: roslaunch segway_gazebo segway_playpen.launch luckily, a segway in Gazebo shows up. However, some error occurs:

SUMMARY
========

CLEAR PARAMETERS
 * /ekf_local_localization/

PARAMETERS
 * /diff_vel_controller/angular/z/has_acceleration_limits: True
 * /diff_vel_controller/angular/z/has_velocity_limits: True
 * /diff_vel_controller/angular/z/max_acceleration: 28.8
 * /diff_vel_controller/angular/z/max_velocity: 3.0
 * /diff_vel_controller/base_frame_id: /segway/base_link
 * /diff_vel_controller/cmd_vel_timeout: 0.25
 * /diff_vel_controller/enable_odom_tf: False
 * /diff_vel_controller/estimate_velocity_from_position: False
 * /diff_vel_controller/left_wheel: left_wheel
 * /diff_vel_controller/linear/x/has_acceleration_limits: True
 * /diff_vel_controller/linear/x/has_velocity_limits: True
 * /diff_vel_controller/linear/x/max_acceleration: 4.903325
 * /diff_vel_controller/linear/x/max_velocity: 3.57632
 * /diff_vel_controller/pose_covariance_diagonal: [0.001, 0.001, 0....
 * /diff_vel_controller/publish_rate: 100
 * /diff_vel_controller/right_wheel: right_wheel
 * /diff_vel_controller/twist_covariance_diagonal: [0.001, 0.001, 0....
 * /diff_vel_controller/type: diff_drive_contro...
 * /diff_vel_controller/wheel_radius_multiplier: 1.0
 * /diff_vel_controller/wheel_separation_multiplier: 1.0
 * /ekf_local_localization/base_link_frame: segway/base_link
 * /ekf_local_localization/debug: False
 * /ekf_local_localization/debug_out_file: debug_ekf_localiz...
 * /ekf_local_localization/frequency: 30.0
 * /ekf_local_localization/imu0: /segway/feedback/...
 * /ekf_local_localization/imu0_config: [False, False, Fa...
 * /ekf_local_localization/imu0_differential: True
 * /ekf_local_localization/imu0_queue_size: 10
 * /ekf_local_localization/imu1: /segway/feedback/...
 * /ekf_local_localization/imu1_config: [False, False, Fa...
 * /ekf_local_localization/imu1_differential: True
 * /ekf_local_localization/imu1_queue_size: 10
 * /ekf_local_localization/imu2_differential: True
 * /ekf_local_localization/initial_estimate_covariance: ['1e-9', 0, 0, 0,...
 * /ekf_local_localization/odom0: /segway/feedback/...
 * /ekf_local_localization/odom0_config: [True, True, Fals...
 * /ekf_local_localization/odom0_differential: True
 * /ekf_local_localization/odom0_queue_size: 10
 * /ekf_local_localization/odom1_differential: True
 * /ekf_local_localization/odom_frame: odom
 * /ekf_local_localization/print_diagnostics: False
 * /ekf_local_localization/process_noise_covariance: [0.05, 0.0, 0.0, ...
 * /ekf_local_localization/sensor_timeout: 0.1
 * /ekf_local_localization/two_d_mode: True
 * /ekf_local_localization/world_frame: odom
 * /front_caster_swivel_controller/joint: front_caster_swivel
 * /front_caster_swivel_controller/pid/d: 0.0
 * /front_caster_swivel_controller/pid/i: 0.001
 * /front_caster_swivel_controller/pid/p: 1.0
 * /front_caster_swivel_controller/type: effort_controller...
 * /front_caster_wheel_controller/joint: front_caster_wheel
 * /front_caster_wheel_controller/pid/d: 0.0
 * /front_caster_wheel_controller/pid/i: 0.001
 * /front_caster_wheel_controller/pid/p: 1.0
 * /front_caster_wheel_controller/type: effort_controller...
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /joint_state_publisher/use_gui: False
 * /rear_caster_swivel_controller/joint: rear_caster_swivel
 * /rear_caster_swivel_controller/pid/d: 10.0
 * /rear_caster_swivel_controller/pid/i: 0.001
 * /rear_caster_swivel_controller/pid/p: 1.0
 * /rear_caster_swivel_controller/type: effort_controller...
 * /rear_caster_wheel_controller/joint: rear_caster_wheel
 * /rear_caster_wheel_controller/pid/d: 0.0
 * /rear_caster_wheel_controller/pid/i: 0.001
 * /rear_caster_wheel_controller/pid/p: 1.0
 * /rear_caster_wheel_controller/type: effort_controller...
 * /robot_description: <?xml version="1....
 * /robot_state_publisher/publish_frequency: 100.0
 * /robot_state_publisher/tf_prefix: /segway
 * /rosdistro: indigo
 * /rosversion: 1.11.16
 * /segway/cmd_vel_mux/yaml_cfg_file: /home/boom/segway...
 * /segway/segway_marker_ctrl/robot_name: RMP_210
 * /segway/segway_marker_ctrl/sim: True
 * /segway/segway_teleop/controller_mapping/axis_range: [{'index': 1, 'in...
 * /segway/segway_teleop/controller_mapping/momentary: [[{'index': 4, 'i...
 * /segway/segway_teleop/sim: True
 * /use_sim_time: True

NODES
  /segway/
    cmd_vel_mux (nodelet/nodelet)
    nodelet_manager (nodelet/nodelet)
    segway_marker_ctrl (segway_ros/segway_marker_ctrl)
    segway_teleop (segway_ros/segway_teleop)
  /
    cmd_relay (topic_tools/relay)
    controller_spawner (controller_manager/spawner)
    ekf_local_localization (robot_localization/ekf_localization_node)
    feedback_relay (topic_tools/relay)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    joint_state_publisher (joint_state_publisher/joint_state_publisher)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_segway_model (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [32220]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 8c76d5ea-0fef-11e6-859a-34e6ad511314
process[rosout-1]: started with pid [32233]
started core service [/rosout]
process[gazebo-2]: started with ...