pr2 pick_and_place_demo hangs on start [closed]

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Hello.

I am trying to run pr2 pick_and_place_demo in simulator. On fuerte after launching

roslaunch pr2_interactive_manipulation pr2_interactive_manipulation_robot.launch sim:=true stereo:=true

Process laser_self_filter constantly restarts..

respawning... [roslaunch][INFO] 2013-05-04 14:33:30,723: [laser_self_filter-24] restarting process [roslaunch][INFO] 2013-05-04 14:33:30,723: process[laser_self_filter-24]: restarting os process [roslaunch][INFO] 2013-05-04 14:33:30,723: process[laser_self_filter-24]: start w/ args [[u'/opt/ros/fuerte/stacks/arm_navigation/robot_self_filter/self_filter', u'cloud_in:=/tilt_scan_cloud', u'cloud_out:=/tilt_scan_cloud_filtered2', u'__name:=laser_self_filter', u'__log:=/home/noskill/.ros/log/b5e866c2-b4a4-11e2-88b6-84c9b20cc7f9/laser_self_filter-24.log']] [roslaunch][INFO] 2013-05-04 14:33:30,723: process[laser_self_filter-24]: cwd will be [/home/noskill/.ros] [roslaunch][INFO] 2013-05-04 14:33:30,734: process[laser_self_filter-24]: started with pid [25888] [roslaunch][INFO] 2013-05-04 14:33:41,722: [laser_self_filter-24] process has died [pid 25888, exit code -4, cmd /opt/ros/fuerte/stacks/arm_navigation/robot_self_filter/self_filter cloud_in:=/tilt_scan_cloud cloud_out:=/tilt_scan_cloud_filtered2 __name:=laser_self_filter __log:=/home/noskill/.ros/log/b5e866c2-b4a4-11e2-88b6-84c9b20cc7f9/laser_self_filter-24.log]. log file: /home/noskillaser_self_filterl/.ros/log/b5e866c2-b4a4-11e2-88b6-84c9b20cc7f9/laser_self_filter-24*.log respawning...

On groovy it stacks on waitForService:

[ INFO] [1367672115.455359181, 191.246000000]: waitForService: Service [/environment_server/get_robot_state] has not been advertised, waiting...

Thanks