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This question is actually two questions in one as the issue with the RobotModel in RViz is not related at all with the OMPL warning. Please open a different question for this issue.

In any case, it is safe to ignore the OMPL warning. Current OMPL version ROS release is 1.0.0 so if you update your packages this warning should disappear. Before, it was 0.15 or something like that, thus the warning appeared, but it is of no importance.