Unable to move the arm through Moveit...Error:Maybe failed to update robot state, time diff: 0,822s

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Hi, I am trying to control gazebo simulated arm mounted on mobile base through moveit. When I try to execute the trajectories after setting starting and goal positions, I am getting "Maybe failed to update robot state, time diff: 0,822s"in my terminal. When I remove robot_state_publisher from my launch file trajectories are being executed. But i need tf tree to visualize octomap. my launch files:

<launch>

    <arg name="paused" default="false" />
    <arg name="use_sim_time" default="true" />
    <arg name="gui" default="true" />
    <arg name="headless" default="false" />
    <arg name="debug" default="false" />
    <arg name="model" default="$(find kate_jaco)/urdf/kate_jaco.xacro"/>
    <arg name="rvizconfig" default="$(find kate_jaco)/rviz/urdf.rviz" />

<!-- We resume the logic in empty_world.launch, changing only the name of 
        the world to be launched -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="/home/iki/iki.world"/>

        <arg name="debug" value="$(arg debug)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="$(arg paused)" />
        <arg name="use_sim_time" value="$(arg use_sim_time)" />
        <arg name="headless" value="$(arg headless)" />

    </include>

<!-- Load the URDF into the ROS Parameter Server -->
    <param name="robot_description" command="$(find xacro)/xacro.py '$(find kate_jaco)/urdf/kate_jaco.xacro'"/>
    <param name="use_gui" value="$(arg gui)"/>

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
    respawn="false" output="screen">

  </node>

<rosparam file="$(find kate_jaco)/config/kate_jaco.yaml" command="load"/>
<rosparam file="$(find kate_jaco)/config/jaco.yaml" command="load"/>
    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/kate_jaco"  args="joint1_position_controller joint2_position_controller joint_state_controller jaco2_controller jaco2_gripper_controller  ">

        </node>
    <!-- Run a python script to the send a service call to gazebo_ros to spawn 
        a URDF robot -->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model"
        respawn="false" output="screen" args="-urdf -model kate_jaco -param robot_description"/>

</launch>

my moveit launch file:

<launch>

  <rosparam command="load" file="$(find kate_jaco_moveit)/config/joint_names.yaml"/>

  <include file="$(find kate_jaco_moveit)/launch/planning_context.launch" >
    <arg name="load_robot_description" value="true" />
  </include>

  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="/use_gui" value="false"/>
    <rosparam param="/source_list">[/kate_jaco/joint_states]</rosparam>
  </node>

  <include file="$(find kate_jaco_moveit)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
  </include>

  <include file="$(find kate_jaco_moveit)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
  </include>

</launch>

PS: I strongly feel, there is something wrong with the robot state publisher and tf_static topic published by it.