arm_navigation stack

edit

I used the Planning Description Configuration Wizard and autogenerated the proper files. I then chose world as my base link and end_effector as the tip link. when I roslaunch al5b_arm_navigation.launch and rosrun the initialisation node at the bottom of this post for my joint_states topic, I get the output

[ WARN] [1338200653.324212205]: Got joint state update but did not update some joints for more than 1 second.  Turn on DEBUG for more info

This is the Urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/oliver/ros_workspace/scanner_3d/robot/al5b.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="al5b">
  <link name="world">
    <inertial>
      <mass value="0.05"/>
      <origin xyz="-0.0 0.0 -10.0"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.15"/>
      <geometry>
        <box size="0.4 0.4 0.3"/>
      </geometry>
    </collision>
  </link>
  <joint name="base_joint" type="fixed">
    <parent link="world"/>
    <child link="shoulder_roll_link"/>
  </joint>
  <link name="shoulder_roll_link">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.85"/>
      <geometry>
        <box size="3.8 3.8 1.9"/>
      </geometry>
    </collision>
  </link>
  <joint name="shoulder_roll_joint" type="revolute">
    <parent link="shoulder_roll_link"/>
    <child link="shoulder_flex_link"/>
    <origin rpy="0 0 0" xyz="0 0 1.725"/>
    <axis xyz="0 0 1"/>
    <limit effort="30" lower="-1.57" upper="1.57" velocity="1.0"/>
  </joint>
  <link name="shoulder_flex_link"/>
  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_flex_link"/>
    <child link="upperarm_link"/>
    <origin rpy="-1.57 -1.57 0" xyz="0 0 0.9"/>
    <axis xyz="0 0 1"/>
    <limit effort="30" lower="-1.57" upper="1.57" velocity="1.0"/>
  </joint>
  <link name="upperarm_link">
    <collision>
      <origin rpy="0 0 0" xyz="1.5 0 0"/>
      <geometry>
        <box size="3.00 0.9825 2.622"/>
      </geometry>
    </collision>
  </link>
  <joint name="elbow_flex_joint" type="revolute">
    <parent link="upperarm_link"/>
    <child link="forearm_link"/>
    <origin rpy="0 0 0" xyz="4.75 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="30" lower="-1.57" upper="1.57" velocity="1.0"/>
  </joint>
  <link name="forearm_link">
    <collision>
      <origin rpy="0 0 0" xyz="1.66 0 0"/>
      <geometry>
        <box size="6.16 1.1 1.62"/>
      </geometry>
    </collision>
  </link>
  <joint name="wrist_flex_joint" type="revolute">
    <parent link="forearm_link"/>
    <child link="wrist_flex_link"/>
    <origin rpy="0 0 0" xyz="5.00 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="30" lower="-1.57" upper="1.57" velocity="1.0"/>
  </joint>
  <link name="wrist_flex_link">
    <collision>
      <origin rpy="0 0 0" xyz="1.33 0 -0.805"/>
      <geometry>
        <box size="0.575 1.61 3.22"/>
      </geometry>
    </collision>
  </link>
  <joint name="wrist_roll_joint" type="revolute">
    <parent link="wrist_flex_link"/>
    <child link="end_effector"/>
    <origin rpy="1.57 0 1.57" xyz="1.64 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="30" lower="-1.57" upper="1.57" velocity="1.0"/>
  </joint>
  <link name="end_effector">
    <collision>
      <origin rpy="0 0 0" xyz="0.52 0 1 ...