weird pr2eus kinematics simulation mode, only when gazebo is failing to start

[k-okada]

when gazebo is crushed,send *ri* :simulation-modep returns nil, because it shutdown r_arm_controller but l_gripper_controller still exists
I think we need 790032f

$ rostopic info /r_arm_controller/follow_joint_trajectory/goal
Type: control_msgs/FollowJointTrajectoryActionGoal

Publishers: None

Subscribers: 
 * /gazebo (http://p51s:33373/)
$ rostopic info /l_gripper_controller/gripper_action/goal
Type: pr2_controllers_msgs/Pr2GripperCommandActionGoal

Publishers: None

Subscribers: 
 * /l_gripper_controller/gripper_action_node (http://p51s:38035/)