Universal robot arm with arm navigation error [closed]

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I am trying to run arm navigation in Gazebo (1.0, Fuerte). I use the ur5_gazebo package and I generated a navigation package using the wizard.

I am using this code: http://pastebin.com/8LSx7epa

But when I launch the robot in Gazebo, arm_navigation and the above code I get the following error:

[ERROR] [1379689759.640330589, 624.528000000]: Setting planning scene state to NULL
[ERROR] [1379689759.640406856, 624.528000000]: Setting planning scene state to NULL
[ WARN] [1379689759.640911669, 624.528000000]: Incomplete robot state in setPlanningScene
[ERROR] [1379689759.640963491, 624.528000000]: Setting planning scene state to NULL
[ERROR] [1379689759.641690189, 624.528000000]: Setting planning scene state to NULL

Can someone test this? I saw a similar problem here, but that does not seem to be a real solution.