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IK error : Planning scene not set

hi all,

when trying to run the IK solver I got this error:

[ERROR] [1340129176.933085357]: Inverse kinematics failed

with rxconsole I got this error:

Planning scene not set

when I looked at the log I got this error:

[0m] [ INFO] [1340111949.225789190]Did you set the log to debug? You can't know much with just one error: everything seems to be connected correctly as you're able to start / interrogate the service. But the IK is failing somehow. : Waiting for the joint_trajectory_action server to come up.

Any ideas please,