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As mentioned in another answer, it seems like its due to some refactoring in KnowRob.
So after you checkout the latest source code into your ROS_PACKAGE_PATH as described by @mortiz.
(I have not checked if this would work without the new package... you may try replacing the import line first before attempting to pull in knew knowrob)
svn co http://code.in.tum.de/pubsvn/knowrob/tags/latest knowrob
Replace the following import line with the one below it in the files which are causing this problem:
import de.tum.in.fipm.kipm.gui.visualisation.applets.CommunicationVisApplet; //delete
import edu.tum.cs.ias.knowrob.vis.applets.CommunicationVisApplet; //add
/roboearth/re_comm/src/roboearth/wp5/CopRoboEarthInterface.java
/roboearth/re_comm/src/roboearth/wp5/REClients.java
/roboearth/re_comm/src/roboearth/wp1/UnizarRoboEarthInterface.java
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