[Package provided] Gazebo won't follow MoveIt, MoveIt won't sense the scene

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Hello,

Here is my package https://github.com/moucrob/dbg/tree/m...

When i run it, here are the errors of the gazebo dedicated terminal :

~$ roslaunch rosbook_arm_gazebo rosbook_arm_grasping_world.launch

deprecated: xacro tags should be prepended with 'xacro' xml namespace.
Use the following script to fix incorrect usage:
        find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'
when processing file: /home/user/try/catkin_ws/src/rosbook_arm_description/urdf/deg_to_rad.xacro
included from: /home/user/try/catkin_ws/src/pha9_model/urdf/all.urdf.xacro

started roslaunch server http://user:33493/

SUMMARY
========

PARAMETERS
 * /joint_state_controller/publish_rate: 50
 * /joint_state_controller/type: joint_state_contr...
 * /move_group/allow_trajectory_execution: True
 * /move_group/controller_list: [{'default': True...
 * /move_group/controller_manager_name: controller_manager
 * /move_group/controller_manager_ns: controller_manager
 * /move_group/first_arm/default_planner_config: RRTConnectkConfig...
 * /move_group/first_arm/longest_valid_segment_fraction: 0.005
 * /move_group/first_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/first_arm/projection_evaluator: joints(first_base...
 * /move_group/jiggle_fraction: 0.05
 * /move_group/max_range: 5.0
 * /move_group/max_safe_path_cost: 1
 * /move_group/moveit_controller_manager: moveit_simple_con...
 * /move_group/moveit_manage_controllers: True
 * /move_group/octomap_resolution: 0.025

 * /move_group/planning_scene_monitor/publish_geometry_updates: True
 * /move_group/planning_scene_monitor/publish_planning_scene: True
 * /move_group/planning_scene_monitor/publish_state_updates: True
 * /move_group/planning_scene_monitor/publish_transforms_updates: True
 * /move_group/request_adapters: default_planner_r...
 * /move_group/second_arm/default_planner_config: RRTConnectkConfig...
 * /move_group/second_arm/longest_valid_segment_fraction: 0.005
 * /move_group/second_arm/planner_configs: ['SBLkConfigDefau...
 * /move_group/second_arm/projection_evaluator: joints(second_bas...
 * /move_group/sensors: [{'point_subsampl...
 * /move_group/start_state_max_bounds_error: 0.1
 * /move_group/trajectory_execution/allowed_execution_duration_scaling: 1.2
 * /move_group/trajectory_execution/allowed_goal_duration_margin: 0.5
 * /move_group/trajectory_execution/allowed_start_tolerance: 0.01
 * /move_group/use_controller_manager: True
 * /robot_state_publisher/publish_frequency: 50.0
 * /robot_state_publisher/tf_prefix: 
 * /rosdistro: kinetic
 * /rosversion: 1.12.13

NODES
  /
    default_controllers_spawner (controller_manager/spawner)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    is_already_there (play_motion/is_already_there.py)
    move_group (moveit_ros_move_group/move_group)
    play_motion (play_motion/play_motion)
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawn_model (gazebo_ros/spawn_model)
    spawn_table (gazebo_ros/spawn_model)
    spawn_tablet (gazebo_ros/spawn_model)

[ERROR] [1526884191.758178990]: Group 'first_arm' for end-effector 'first_finger_ee' cannot be its own parent
[ERROR] [1526884191.758311866]: Group 'second_arm' for end-effector 'second_finger_ee' cannot be its own parent

[ INFO] [1526884192.032911436]: Listening to '/collision_object' using message notifier with target frame '/world '
[ INFO] [1526884192.036766857]: Listening to '/planning_scene_world' for planning scene world geometry
SpawnModel script started
[ INFO] [1526884192.347807698]: Listening to '/rgbd_camera/depth/points' using message filter with target frame '/world '
[ INFO] [1526884192.351036393]: Listening to '/rgbd_camera_2/depth/points' using message filter with target frame '/world '
[ INFO] [1526884192.353973290]: Listening to '/rgbd_camera_3/depth/points' using message filter with target frame '/world '
[ INFO] [1526884192.357021340]: Listening to '/rgbd_camera_4/depth/points' using message filter with target frame '/world '
[ INFO] [1526884192.363814829]: Listening to '/attached_collision_object' for attached collision objects
Context monitors started.

[ INFO] [1526884192.394141427]: Initializing OMPL interface using ROS parameters
[ INFO] [1526884192.441552187]: Using planning interface 'OMPL'
[ INFO] [1526884192.444198544]: Param 'default_workspace_bounds' was not set. Using default value: 10
[ INFO] [1526884192.444727192]: Param 'start_state_max_bounds_error' was set to 0.1
[ INFO] [1526884192.445206128]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1526884192.445693418]: Param 'start_state_max_dt' was not set. Using default value: 0.5
[ INFO] [1526884192.446201604]: Param 'jiggle_fraction' was set to 0.05
[ INFO] [1526884192.446683629]: Param 'max_sampling_attempts' was not set. Using default value: 100

[INFO] [1526884192.810685, 0.141000]: Calling service /gazebo/spawn_urdf_model
[ INFO] [1526884193.511444952, 0.318000000]: Camera Plugin: Using the 'robotNamespace' param: '/'
[ INFO] [1526884193.514449062, 0.318000000]: Camera Plugin: Using ...