MoveIt! tutorial: Sensor integration

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Hi,

I'm having a problem in integrating the rgbd sensor to run in MoveIt!/Gazebo.

I followed the MoveIt! Quick Start tutorials and when I try to execute:
roslaunch pr2_moveit_generated moveit_planning_execution.launch
The code runs, but it gives me an error saying:

[ERROR] [1368820859.153297045, 992.717000000]: No sensor plugin specified for octomap updater 0; ignoring.

The entire initial output about the scene monitor is:

[ INFO] [1368820859.137703184, 992.713000000]: Starting scene monitor
[ INFO] [1368820859.140261001, 992.713000000]: Listening to 'planning_scene'
[ INFO] [1368820859.140364044, 992.713000000]: Starting world geometry monitor
[ INFO] [1368820859.142811100, 992.715000000]: Listening to 'collision_object' using message notifier with target frame '/odom_combined '
[ INFO] [1368820859.144858709, 992.715000000]: Listening to 'collision_map' using message notifier with target frame '/odom_combined '
[ INFO] [1368820859.146865334, 992.715000000]: Listening to 'planning_scene_world' for planning scene world geometry
[ERROR] [1368820859.15
3297045, 992.717000000]: No sensor plugin specified for octomap updater 0; ignoring.
[ INFO] [1368820859.501966978, 992.790000000]: Listening to 'attached_collision_object' for attached collision objects
[ INFO] [1368820859.502099335, 992.790000000]: MoveGroup context using planning plugin ompl_interface/OMPLPlanner
[ INFO] [1368820859.502171944, 992.790000000]: MoveGroup context initialization complete

After I change the 'Planning Scene Topic' field to '/move_group/monitored_planning_scene' it outputs:

[ INFO] [1368821318.083208203, 1130.849000000]: Starting scene monitor
[ INFO] [1368821318.083369548, 1130.849000000]: Listening to '/move_group/monitored_planning_scene'

But nothing happens, no data is shown in the RViz window. Anyone know how can I fix this? There were no problems until this part in the tutorial.

Thanks!