agvs_sim kinetic joint_states not published

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I have been trying to run agvs_sim tutorials in kinetic version .http://wiki.ros.org/agvs_sim/tutorials For the following command roslaunch agvs_robot_control agvs_robot_control.launch

I am getting the following response.

AGVSControllerClass::starting

It is continous in loop.

After investigating,

rostopic echo /agvs/joint_state we found the following warning message

WARNING: no messages received and simulated time is active. Is /clock being published?

What would be the issue?