Update: I've include my urdf file. What would cause the joint states to come up emtpy?

Update: Where are these transforms coming from? I've had not seen link transforms before when I was using a single urdf file for both gazebo and rviz. Now that I split them I am getting these odd transforms with NaN data.

Original: I get the following errors from the robot state publisher...where can I locate the source of this error in the file description and what am I looking for.

Getting the following errors. I have no user nodes running. I am running the jointstatepublisher and the robotstatepublisher

Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "left_wheel" from authority "/robot_state_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)
         at line 239 in /tmp/buildd/ros-hydro-tf2-0.4.5-0precise-20130721-0200/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "right_wheel" from authority "/robot_state_publisher" because of a nan value in the transform (-nan -nan -nan) (-nan -nan -nan -nan)
         at line 239 in /tmp/buildd/ros-hydro-tf2-0.4.5-0precise-20130721-0200/src/buffer_core.cpp
**strong text**

From: rostopic echo tf

header: 
  seq: 0
  stamp: 
    secs: 400
    nsecs: 318000000
  frame_id: base_link
child_frame_id: left_wheel
transform: 
  translation: 
    x: nan
    y: nan
    z: nan
  rotation: 
    x: nan
    y: nan
    z: nan
    w: nan

rostopic echo /joint_states

header: 
  seq: 250
  stamp: 
    secs: 618
    nsecs: 99000000
  frame_id: ''
name: ['joint1', 'joint2', 'camera_joint']
position: [0.0, 0.0, 0.0]
velocity: []


rostopic echo /rrbot/joint1_position_controller/state



header: 
  seq: 65065
  stamp: 
    secs: 664
    nsecs: 619000000
  frame_id: ''
set_point: -0.928255624474
process_value: -0.963152050837
process_value_dot: 0.0224822071073
error: 0.0348964263635
time_step: 0.001
command: 1.24142192562e-06
p: 0.0001
i: 0.0001
d: 0.0001
i_clamp: 0.0



===========URDF file =============

<?xml version="1.0"?>
<!-- Revolute-Revolute Manipulator -->
<robot name="rrbot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!-- Import all Gazebo-customization elements, including Gazebo colors -->
  <xacro:include filename="$(find rrbot_description)/urdf/rrbot.gazebo" />
  <!-- Import Rviz colors -->
  <xacro:include filename="$(find rrbot_description)/urdf/materials.xacro" />

  <xacro:property name="PI" value="3.1415926535897931"/>  <!-- ${PI} -->


   <link name='base_link'>
      <collision name='collision'>
        <origin xyz="0 0 .1" rpy="0 0 0"/>
        <geometry>
          <box  size=".4 .2 .1"/>
        </geometry>
      </collision>

      <visual name='visual'>
        <origin xyz="0 0 .1 " rpy="0 0 0"/>
        <geometry>
          <box  size=".4 .2 .1"/>
        </geometry>
      </visual>

      <collision name='caster_collision'>
        <origin xyz="-0.15 0 0.05" rpy="0 0 0"/>
        <geometry>
          <sphere radius=".05"/>
        </geometry>

        <surface>
         <friction>
          <ode>
            <mu>0</mu>
            <mu2>0</mu2>
            <slip1>1.0</slip1>
            <slip2>1.0</slip2>
          </ode>
         </friction>
        </surface>

      </collision>

      <visual name='caster_visual'>
        <origin xyz="-0.15 0 0.05" rpy="0 0 0"/>
        <geometry>
          <sphere radius=".05"/>
        </geometry>
      </visual>

     <inertial>
        <mass value="10" />
        <origin xyz="0 0 .1 " rpy="0 0 0"/>
        <inertia ixx="1" ixy="0" ixz="0" 
                 iyy="1" iyz="0" 
                 izz="1" />
     </inertial>
  </link> 



  <link name="left_wheel">
    <collision name="collision">
      <origin xyz="0.05 0.08 0.05" rpy="0 1.5707 1.5707"/>
      <geometry>
         <cylinder  length="0.05" radius="0.1"/>
      </geometry>
    </collision>
    <visual name="visual">
      <origin xyz="0.05 0.08 0.05" rpy="0 1.5707 1.5707"/>
      <geometry>
        <cylinder  length="0.05" radius="0.1"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1" />
      <origin xyz="0.05 0.08 0.05"/>
      <inertia ixx="1" ixy="0" ixz="0" 
               iyy="1" iyz="0" 
               izz="1" />
    </inertial>
  </link>

  <link name="right_wheel">
    <collision name="collision">
      <origin xyz="0.05 -0.08 0.05" rpy="0 1.5707 1.5707"/>
      <geometry>
         <cylinder length="0.05" radius="0.1"/>
      </geometry>
    </collision>
    <visual name="visual">
      <origin xyz="0.05 -0.08 0.05" rpy="0 1.5707 1.5707"/>
      <geometry>
        <cylinder  length="0.05" radius="0.1"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1" />
      <origin xyz="0.05 -0.08 0.05"/>
      <inertia ixx="1" ixy="0" ixz="0" 
               iyy="1" iyz="0" 
               izz="1" />
    </inertial>
  </link>


  <joint type="continuous" name="joint1">
    <origin xyz="0.05 0.08 0.05" rpy="1.5707 1.5707 0"/>
    <child link="left_wheel">left_wheel</child>
    <parent link="base_link">base_link</parent>
    <axis>
         <xyz>0 1 0</xyz>
     </axis>
    <limit effort="30" velocity="1.0"/>
  </joint>

  <joint type="continuous" name="joint2">
    <origin xyz="0.05 -0.08 0.05" rpy="1.5707 1.5707 0"/>
    <child link="right_wheel">right_wheel</child>
    <parent link="base_link">base_link</parent>
    <axis>
         <xyz>0 1 0</xyz>
     </axis>
    <limit effort="30" velocity="1.0"/>
  </joint>


  <link name="camera_link">
    <collision name="collision">
      <origin xyz="0.1 0.0 0.1" rpy="0 0 0"/>
      <geometry>
         <cylinder  length="0.1" radius="0.025"/>
      </geometry>
    </collision>
    <visual name="visual">
      <origin xyz="0.1 0.0 0.1" rpy="0 0 0"/>
      <geometry>
         <cylinder  length="0.1" radius="0.025"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1" />
      <origin xyz="0.1 0.0 0.1"/>
      <inertia ixx="1" ixy="0" ixz="0" 
               iyy="1" iyz="0" 
               izz="1" />
    </inertial>
  </link>


  <joint name="camera_joint" type="fixed">
    <origin xyz="0 0.0 0.1" rpy="0 0 0" />
    <axis xyz="0 0 1"/>>
    <parent link="base_link" />
    <child link="camera_link" />
  </joint>


  <link name="hokuyo_link">
    <collision name="collision">
      <origin xyz="0.1 0.0 0.05" rpy="0 0 0"/>
      <geometry>
        <cylinder  length="0.1" radius="0.025"/>
      </geometry>
    </collision>
    <visual name="visual">
      <origin xyz="0.1 0.0 0.05" rpy="0 0 0"/>
      <geometry>
        <cylinder  length="0.1" radius="0.025"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1" />
      <origin xyz="0.1 0 0.05"/>
      <inertia ixx="1" ixy="0" ixz="0" 
               iyy="1" iyz="0" 
               izz="1" />
    </inertial>
  </link>

  <joint name="laser_joint" type="fixed">
    <origin xyz="0 0 0.15" rpy="0 0 0" />
    <axis xyz="0 0 1"/>>
    <parent link="camera_link" />
    <child link="hokuyo_link" />
  </joint>

  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1"/>
    <actuator name="motor1">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>

  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint2"/>
    <actuator name="motor2">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>


</robot>

======================= launch file ===================

  <!-- Load robot description here ; used by rviz / rqt_gui -->
  <param name="robot_description" 
              command="$(find xacro)/xacro.py '$(find rrbot_description)/urdf/rrbot.xacro'" />

  <!-- Start rqt : note rrbot.rviz file must reside in launch dir -->
  <node name="rqt_gui" pkg="rqt_gui" type="rqt_gui"/>



  <!-- load the controllers -->
  <!-- Load joint controller configurations from YAML file to parameter server -->
  <rosparam file="$(find rrbot_control)/config/rrbot_control.yaml" command="load"/>
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="true"
    output="screen" ns="/rrbot" args="--namespace=/rrbot
                      joint1_position_controller
                      joint2_position_controller"/>


  <!-- Take model joint stats from gazebo and publish as joint state messages   -->
  <node pkg="joint_state_publisher" type="joint_state_publisher"  
        name="joint_state_publisher" output="screen">
        <param name="rate"  value="3.0" />
  </node>



  <!-- Take joint state messages and pubish them as tf messages   -->
  <node pkg="robot_state_publisher" type="robot_state_publisher" 
        name="robot_state_publisher" output="screen">
        <param name="publish_frequency" type="double" value="3.0" />
  </node>



</launch>

========================Yaml file =================

rrbot:
  # Publish all joint states -----------------------------------
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 30

  # Position Controllers ---------------------------------------
  joint1_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint1
    pid: {p: 0.0001, i: 0.0001, d: 0.01}
  joint2_position_controller:
    type: effort_controllers/JointPositionController
    joint: joint2
    pid: {p: 0.0001, i: 0.0001, d: 0.01}