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pioneer 3dx simulation using rviz and stage

Hi, I installed ROS on ubuntu 10.10 and I'm trying to simulate a pioneer robot on rviz. I have the usc p2os package and I'm trying to use the pioneer3dx.urdf for the robot simulation. The robot is recognised by rviz but the left, right wheels and hubcaps are not being recognised. I'm getting "no transform from [/...] to [/odom] error. Any help would be greatly appreciated.

thanks, Vinay