pr2 object manipulation demo launching errors

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Hi ROS members,

I'm using ROS fuerte and Ubuntu 12.04 and run the manipulation pipeline demo.

There was a post with similar problems quite a while ago problem for loading robot pr2 model My approach to solve is quite similar to Zhenli's post except I use locally installed database.

But simulation results in errors and hanging .... waiting for some services mostly /register_planning_scene

  INFO] [1352385362.021962764,
    3093.363000000]: Waiting for joint state ... [ INFO] [1352385362.274628222,
    3093.690000000]: Waiting for environment server planning scene registration service /register_planning_scene [ INFO] [1352385362.518959543,
    3093.995000000]: Waiting for environment server planning scene registration service /register_planning_scene [ INFO] [1352385362.519180630,
    3093.995000000]: Waiting for environment server planning scene registration service /register_planning_scene [ INFO] [1352385362.519545741,
    3093.996000000]: Waiting for environment server planning scene registration service /register_planning_scene [ INFO] [1352385362.526059025,
    3093.998000000]: waitForService: Service [/register_planning_scene] has not been advertised, waiting... [ INFO] [1352385362.527692654,
    3094.001000000]: waitForService: Service [/register_planning_scene] has not been advertised, waiting... [ INFO] [1352385362.528279448,
    3094.001000000]: waitForService: Service [/register_planning_scene] has not been advertised, waiting... [planning_scene_validity_server-12] killing on exit [ INFO] [1352385363.041654300,
    3095.011000000]: Waiting for environment server planning scene registration service /register_planning_scene [ INFO] [1352385363.042446831,
    3095.013000000]: Waiting for environment server planning scene registration service /register_planning_scene [ INFO] [1352385363.042856577,
    3095.013000000]: waitForService: Service [/register_planning_scene] has not been advertised, waiting... [ INFO] [1352385363.043233011,
    3095.015000000]: waitForService: Service [/register_planning_scene] has not been advertised, waiting... [ INFO] [1352385363.238871900,
    3095.407000000]: Waiting for robot state ... [ INFO] [1352385363.238919504,
    3095.407000000]: Waiting for joint state ...

Some of them related to collision map

  [ WARN] [1352386233.535653681, 4434.575000000]: No collision geometry specified for link 'base_laser_link'
    [ WARN] [1352386233.541596599, 4434.595000000]: No collision geometry specified for link 'base_laser_link'
    [ INFO] [1352386233.642855513, 4434.727000000]: Listening to collision_map using message notifier with target frame /odom_combined 
    Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
    process[tabletop_segmentation-30]: started with pid [31797]
    Exception AttributeError: AttributeError("'_DummyThread' object has no attribute '_Thread__block'",) in <module 'threading' from '/usr/lib/python2.7/threading.pyc'> ignored
    process[tabletop_object_recognition-31]: started with pid [31810]
    [ WARN] [1352386233.708410454, 4434.797000000]: No collision geometry specified for link 'r_forearm_cam_frame'

and some crashes:

  File "/opt/ros/fuerte/stacks/object_manipulation/object_manipulator/scripts/cluster_bounding_box_finder_server.py", line 46, in <module>
Traceback (most recent call last):
  File "/opt/ros/fuerte/stacks/pr2_object_manipulation/manipulation/pr2_gripper_grasp_planner_cluster/scripts/point_cluster_grasp_planner_server.py", line 46, in <module>
    import object_manipulator.cluster_bounding_box_finder as cluster_bounding_box_finder
  File "/opt/ros/fuerte/stacks/object_manipulation/object_manipulator/src/object_manipulator/cluster_bounding_box_finder.py", line 43, in <module>
    import pr2_gripper_grasp_planner_cluster.point_cluster_grasp_planner as grasp_planner_cluster
  File "/opt/ros/fuerte/stacks/pr2_object_manipulation/manipulation/pr2_gripper_grasp_planner_cluster/src/pr2_gripper_grasp_planner_cluster/point_cluster_grasp_planner.py", line 44, in <module>
    import scipy
    import scipy
ImportErrorImportError: : No module named scipyNo module named scipy

Traceback (most recent call last):
  File "/opt/ros/fuerte/stacks/pr2_object_manipulation/manipulation/pr2_gripper_reactive_approach/scripts/reactive_grasp_server.py", line 43, in <module>
    import pr2_gripper_reactive_approach.reactive_grasp as reactive_grasp
  File "/opt/ros/fuerte/stacks/pr2_object_manipulation/manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/reactive_grasp.py", line 45, in <module>
    import controller_manager
  File "/opt/ros/fuerte/stacks/pr2_object_manipulation/manipulation/pr2_gripper_reactive_approach/src/pr2_gripper_reactive_approach/controller_manager.py ...