[ros-users] Error message in Rviz

[beepbeep]

Hello,

I've just installed ROS and Rviz on Ubuntu 10.04, on both 64 bit and (by
VMware) 32 bit. 
When I start Rviz and try to add a Robot Model, I get the following error in
the Displays box: 

URDF            |           Parameter [robot_description] does not exist,
and was not found by searchParam()

Isn't it supposed to load a default PR2 robot model, as per the tutorials on
youtube?
How do I set this right?

Thanks.
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