Problem with robotino_node (state_publisher & URDF)

Hi. So I use the openrobotino catkin package and if I do: roslaunch robotino_node robotino_node.launch hostname:=172.26.1.1 I get: ... logging to /home/robotino/.ros/log/14d5aee0-0b63-11e4-a7b5-001377acf23d/roslaunch-tracking-R560-3803.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server [deleted because I can't publish links] SUMMARY ======== PARAMETERS * /robot_description * /robot_state_publisher/publish_frequency * /robotino_camera_node/cameraNumber * /robotino_camera_node/hostname * /robotino_laserrangefinder_node/hostname * /robotino_laserrangefinder_node/laserRangeFinderNumber * /robotino_mapping_node/hostname * /robotino_node/downsample_kinect * /robotino_node/hostname * /robotino_node/leaf_size_kinect * /robotino_node/max_angular_vel * /robotino_node/max_linear_vel * /robotino_node/min_angular_vel * /robotino_node/min_linear_vel * /robotino_odometry_node/hostname * /rosdistro * /rosversion NODES / robot_state_publisher (robot_state_publisher/state_publisher) robotino_camera_node (robotino_node/robotino_camera_node) robotino_laserrangefinder_node (robotino_node/robotino_laserrangefinder_node) robotino_mapping_node (robotino_node/robotino_mapping_node) robotino_node (robotino_node/robotino_node) robotino_odometry_node (robotino_node/robotino_odometry_node) ROS_MASTER_URI=[link with localhost:11311] core service [/rosout] found process[robotino_node-1]: started with pid [3821] process[robotino_odometry_node-2]: started with pid [3822] process[robotino_laserrangefinder_node-3]: started with pid [3823] process[robotino_camera_node-4]: started with pid [3824] process[robot_state_publisher-5]: started with pid [3825] process[robotino_mapping_node-6]: started with pid [3826] [ INFO] [1405348121.106758117]: LaserRangeFinder0 connected to Robotino. [ INFO] [1405348121.108033560]: Odometry connected to Robotino. [ INFO] [1405348121.111381965]: Mapping connected to Robotino. /opt/ros/hydro/lib/robot_state_publisher/state_publisher [ WARN] [1405348121.446816650]: The 'state_publisher' executable is deprecated. Please use 'robot_state_publisher' instead [ WARN] [1405348121.510280519]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF. [ INFO] [1405348123.615750085]: Camera0 connected to Robotino. [ INFO] [1405348123.663682500]: RobotinoNode connected to Robotino. Now I have looked in the launch file: The robot_state_publisher is already used, so why the warning about the deprecated state_publisher? I have already changed the URDF in the Catkin Workspace before, when I used a joystick to drive the Robotino around (and it worked, but I can't post how it looks now because I haven't sufficient karma to publish links and it contains links). I don't know how to change the URDF (belonging to the API2?), I can't even find it. I already asked the question in the openrobotino forum (without success so far), but I hope you can help me. Thanks.