Getting errors from robot_state_publisher [closed]

edit

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 joint_state_publisher and the robot_state_publisher

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 ...