lukeschmitt-tr
commented
1 year ago Yes, looks like we missed a breaking rtabmap_ros update. We will update our navigation packages accordingly in the coming days. In the meantime, you can either update the launch files in your workspace based on their migration guide, or downgrade your version of rtabmap_ros (and possibly rtabmap if needed) to version 0.20.23 before the breaking changes.
This issue will remain open until the updates are made. If you get it working, we would be happy to accept a PR.
What happened?
Hello, for the past couple of days I have been trying to run the nav_sim. launch file and it keeps giving me problems in displaying the robot on Rviz. Specifically, it no longer performs the mapping, does not display the robot, does not display the lidar data
After running the command on terminal, I get various errors:
Output
process[locobot/rtabmap/obstacle_detection-10]: started with pid [14128] ERROR: cannot launch node of type [rtabmap_ros/rtabmap]: Cannot locate node of type [rtabmap] in package [rtabmap_ros]. Make sure file exists in package path and permission is set to executable (chmod +x) type is rtabmap_ros/point_cloud_xyzrgb process[locobot/move_base-12]: started with pid [14131] type is rtabmap_ros/obstacles_detection [ERROR] [1682066426.099522639]: Failed to load nodelet [/locobot/rtabmap/rgbd_sync] of type [rtabmap_ros/rgbd_sync] even after refreshing the cache: According to the loaded plugin descriptions the class rtabmap_ros/rgbd_sync with base class type nodelet::Nodelet does not exist. Declared types are RobotLocalization/EkfNodelet RobotLocalization/NavSatTransformNodelet RobotLocalization/UkfNodelet SlamGMappingNodelet apriltag_ros/ContinuousDetector depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/point_cloud_xyzrgb_radial depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image imu_filter_madgwick/ImuFilterNodelet jsk_pcl/AddColorFromImage jsk_pcl/AddColorFromImageToOrganized jsk_pcl/AddPointIndices jsk_pcl/AttentionClipper jsk_pcl/BilateralFilter jsk_pcl/BorderEstimator jsk_pcl/BoundingBoxFilter jsk_pcl/BoundingBoxOcclusionRejector jsk_pcl/CaptureStereoSynchronizer jsk_pcl/CentroidPublisher jsk_pcl/ClusterPointIndicesDecomposer jsk_pcl/ClusterPointIndicesDecomposerZAxis jsk_pcl/CollisionDetector jsk_pcl/ColorBasedRegionGrowingSegmentation jsk_pcl/ColorHistogram jsk_pcl/ColorHistogramClassifier jsk_pcl/ColorHistogramFilter jsk_pcl/ColorHistogramMatcher jsk_pcl/ColorizeDistanceFromPlane jsk_pcl/ColorizeHeight2DMapping jsk_pcl/ColorizeMapRandomForest jsk_pcl/ColorizeRandomForest jsk_pcl/ConvexConnectedVoxels jsk_pcl/DelayPointCloud jsk_pcl/DepthCalibration jsk_pcl/DepthImageCreator jsk_pcl/DepthImageError jsk_pcl/EdgeDepthRefinement jsk_pcl/EdgebasedCubeFinder jsk_pcl/EnvironmentPlaneModeling jsk_pcl/EuclideanClustering jsk_pcl/ExtractCuboidParticlesTopN jsk_pcl/ExtractIndices jsk_pcl/FeatureRegistration jsk_pcl/FindObjectOnPlane jsk_pcl/FisheyeSpherePublisher jsk_pcl/FuseDepthImages jsk_pcl/FuseRGBImages jsk_pcl/GridSampler jsk_pcl/HSIColorFilter jsk_pcl/HandleEstimator jsk_pcl/HeightmapConverter jsk_pcl/HeightmapMorphologicalFiltering jsk_pcl/HeightmapTimeAccumulation jsk_pcl/HeightmapToPointCloud jsk_pcl/HintedHandleEstimator jsk_pcl/HintedPlaneDetector jsk_pcl/HintedStickFinder jsk_pcl/ICPRegistration jsk_pcl/ImageRotateNodelet jsk_pcl/IncrementalModelRegistration jsk_pcl/InteractiveCuboidLikelihood jsk_pcl/IntermittentImageAnnotator jsk_pcl/JointStateStaticFilter jsk_pcl/KeypointsPublisher jsk_pcl/Kinfu jsk_pcl/LINEMODDetector jsk_pcl/LINEMODTrainer jsk_pcl/LineSegmentCollector jsk_pcl/LineSegmentDetector jsk_pcl/MaskImageClusterFilter jsk_pcl/MaskImageFilter jsk_pcl/MaskImageToDepthConsideredMaskImage jsk_pcl/MaskImageToPointIndices jsk_pcl/MovingLeastSquareSmoothing jsk_pcl/MultiPlaneExtraction jsk_pcl/MultiPlaneSACSegmentation jsk_pcl/NormalConcatenater jsk_pcl/NormalDirectionFilter jsk_pcl/NormalEstimationIntegralImage jsk_pcl/NormalEstimationOMP jsk_pcl/NormalFlipToFrame jsk_pcl/OctomapServerContact jsk_pcl/OctreeChangePublisher jsk_pcl/OctreeVoxelGrid jsk_pcl/OrganizedEdgeDetector jsk_pcl/OrganizedMultiPlaneSegmentation jsk_pcl/OrganizedPassThrough jsk_pcl/OrganizedPointCloudToPointIndices jsk_pcl/PCDReaderWithPose jsk_pcl/PPFRegistration jsk_pcl/ParallelEdgeFinder jsk_pcl/ParticleFilterTracking jsk_pcl/PeopleDetection jsk_pcl/PlanarPointCloudSimulator jsk_pcl/PlaneConcatenator jsk_pcl/PlaneReasoner jsk_pcl/PlaneRejector jsk_pcl/PlaneSupportedCuboidEstimator jsk_pcl/PointCloudLocalization jsk_pcl/PointCloudToClusterPointIndices jsk_pcl/PointCloudToSTL jsk_pcl/PointIndicesToMaskImage jsk_pcl/PointcloudDatabaseServer jsk_pcl/PointcloudScreenpoint jsk_pcl/PolygonAppender jsk_pcl/PolygonArrayAngleLikelihood jsk_pcl/PolygonArrayAreaLikelihood jsk_pcl/PolygonArrayDistanceLikelihood jsk_pcl/PolygonArrayFootAngleLikelihood jsk_pcl/PolygonArrayTransformer jsk_pcl/PolygonArrayUnwrapper jsk_pcl/PolygonArrayWrapper jsk_pcl/PolygonFlipper jsk_pcl/PolygonMagnifier jsk_pcl/PolygonPointsSampler jsk_pcl/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl/PrimitiveShapeClassifier jsk_pcl/RGBColorFilter jsk_pcl/ROIClipper jsk_pcl/RearrangeBoundingBox jsk_pcl/RegionGrowingMultiplePlaneSegmentation jsk_pcl/RegionGrowingSegmentation jsk_pcl/ResizePointsPublisher jsk_pcl/SelectedClusterPublisher jsk_pcl/Snapit jsk_pcl/SphericalPointCloudSimulator jsk_pcl/StaticPolygonArrayPublisher jsk_pcl/SupervoxelSegmentation jsk_pcl/TargetAdaptiveTracking jsk_pcl/TfTransformBoundingBox jsk_pcl/TfTransformBoundingBoxArray jsk_pcl/TfTransformCloud jsk_pcl/TiltLaserListener jsk_pcl/TorusFinder jsk_pcl/TransformPointcloudInBoundingBox jsk_pcl/VoxelGridDownsampleDecoder jsk_pcl/VoxelGridDownsampleManager jsk_pcl/VoxelGridLargeScale jsk_pcl_utils/AddPointIndices jsk_pcl_utils/BoundingBoxArrayToBoundingBox jsk_pcl_utils/CentroidPublisher jsk_pcl_utils/CloudOnPlane jsk_pcl_utils/ClusterPointIndicesToPointIndices jsk_pcl_utils/ColorizeDistanceFromPlane jsk_pcl_utils/ColorizeHeight2DMapping jsk_pcl_utils/DelayPointCloud jsk_pcl_utils/DepthImageError jsk_pcl_utils/LabelToClusterPointIndices jsk_pcl_utils/MarkerArrayVoxelToPointCloud jsk_pcl_utils/MaskImageToDepthConsideredMaskImage jsk_pcl_utils/MaskImageToPointIndices jsk_pcl_utils/NormalConcatenater jsk_pcl_utils/NormalFlipToFrame jsk_pcl_utils/PCDReaderWithPose jsk_pcl_utils/PlanarPointCloudSimulator jsk_pcl_utils/PlaneConcatenator jsk_pcl_utils/PlaneReasoner jsk_pcl_utils/PlaneRejector jsk_pcl_utils/PointCloudRelativeFromPoseStamped jsk_pcl_utils/PointCloudToClusterPointIndices jsk_pcl_utils/PointCloudToMaskImage jsk_pcl_utils/PointCloudToPCD jsk_pcl_utils/PointCloudToPointIndices jsk_pcl_utils/PointCloudToSTL jsk_pcl_utils/PointCloudXYZRGBToXYZ jsk_pcl_utils/PointCloudXYZToXYZRGB jsk_pcl_utils/PointIndicesToClusterPointIndices jsk_pcl_utils/PointIndicesToMaskImage jsk_pcl_utils/PolygonAppender jsk_pcl_utils/PolygonArrayAngleLikelihood jsk_pcl_utils/PolygonArrayAreaLikelihood jsk_pcl_utils/PolygonArrayDistanceLikelihood jsk_pcl_utils/PolygonArrayFootAngleLikelihood jsk_pcl_utils/PolygonArrayLikelihoodFilter jsk_pcl_utils/PolygonArrayTransformer jsk_pcl_utils/PolygonArrayUnwrapper jsk_pcl_utils/PolygonArrayWrapper jsk_pcl_utils/PolygonFlipper jsk_pcl_utils/PolygonMagnifier jsk_pcl_utils/PolygonPointsSampler jsk_pcl_utils/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl_utils/SphericalPointCloudSimulator jsk_pcl_utils/StaticPolygonArrayPublisher jsk_pcl_utils/SubtractPointIndices jsk_pcl_utils/TfTransformBoundingBox jsk_pcl_utils/TfTransformBoundingBoxArray jsk_pcl_utils/TfTransformCloud jsk_pcl_utils/TransformPointcloudInBoundingBox jsk_topic_tools/Block jsk_topic_tools/DeprecatedRelay jsk_topic_tools/HzMeasure jsk_topic_tools/LightweightThrottle jsk_topic_tools/MUX jsk_topic_tools/Passthrough jsk_topic_tools/Relay jsk_topic_tools/Snapshot jsk_topic_tools/StealthRelay jsk_topic_tools/StringRelay jsk_topic_tools/SynchronizedThrottle jsk_topic_tools/VitalCheckerNodelet jsk_topic_tools_test/LogUtils laser_filters/scan_to_cloud_filter_chain laser_proc/LaserProcNodelet mesh_filter/DepthSelfFiltering nodelet_tutorial_math/Plus octomap_color_server/OctomapServerNodelet octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory resized_image_transport/ImageResizer resized_image_transport/LogPolar rtabmap_legacy/data_odom_sync rtabmap_legacy/data_throttle rtabmap_legacy/obstacles_detection_old rtabmap_legacy/stereo_throttle rtabmap_legacy/undistort_depth rtabmap_odom/icp_odometry rtabmap_odom/rgbd_odometry rtabmap_odom/rgbdicp_odometry rtabmap_odom/stereo_odometry rtabmap_slam/rtabmap rtabmap_sync/rgb_sync rtabmap_sync/rgbd_sync rtabmap_sync/rgbdx_sync rtabmap_sync/rtabmap rtabmap_sync/stereo_sync rtabmap_util/disparity_to_depth rtabmap_util/imu_to_tf rtabmap_util/lidar_deskewing rtabmap_util/obstacles_detection rtabmap_util/point_cloud_aggregator rtabmap_util/point_cloud_assembler rtabmap_util/point_cloud_xyz rtabmap_util/point_cloud_xyzrgb rtabmap_util/pointcloud_to_depthimage rtabmap_util/rgb_sync rtabmap_util/rgbd_relay rtabmap_util/rgbd_split rtabmap_util/stereo_sync stereo_image_proc/disparity stereo_image_proc/point_cloud2 [ERROR] [1682066426.101366183]: The error before refreshing the cache was: According to the loaded plugin descriptions the class rtabmap_ros/rgbd_sync with base class type nodelet::Nodelet does not exist. Declared types are RobotLocalization/EkfNodelet RobotLocalization/NavSatTransformNodelet RobotLocalization/UkfNodelet SlamGMappingNodelet apriltag_ros/ContinuousDetector depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/point_cloud_xyzrgb_radial depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image imu_filter_madgwick/ImuFilterNodelet jsk_pcl/AddColorFromImage jsk_pcl/AddColorFromImageToOrganized jsk_pcl/AddPointIndices jsk_pcl/AttentionClipper jsk_pcl/BilateralFilter jsk_pcl/BorderEstimator jsk_pcl/BoundingBoxFilter jsk_pcl/BoundingBoxOcclusionRejector jsk_pcl/CaptureStereoSynchronizer jsk_pcl/CentroidPublisher jsk_pcl/ClusterPointIndicesDecomposer jsk_pcl/ClusterPointIndicesDecomposerZAxis jsk_pcl/CollisionDetector jsk_pcl/ColorBasedRegionGrowingSegmentation jsk_pcl/ColorHistogram jsk_pcl/ColorHistogramClassifier jsk_pcl/ColorHistogramFilter jsk_pcl/ColorHistogramMatcher jsk_pcl/ColorizeDistanceFromPlane jsk_pcl/ColorizeHeight2DMapping jsk_pcl/ColorizeMapRandomForest jsk_pcl/ColorizeRandomForest jsk_pcl/ConvexConnectedVoxels jsk_pcl/DelayPointCloud jsk_pcl/DepthCalibration jsk_pcl/DepthImageCreator jsk_pcl/DepthImageError jsk_pcl/EdgeDepthRefinement jsk_pcl/EdgebasedCubeFinder jsk_pcl/EnvironmentPlaneModeling jsk_pcl/EuclideanClustering jsk_pcl/ExtractCuboidParticlesTopN jsk_pcl/ExtractIndices jsk_pcl/FeatureRegistration jsk_pcl/FindObjectOnPlane jsk_pcl/FisheyeSpherePublisher jsk_pcl/FuseDepthImages jsk_pcl/FuseRGBImages jsk_pcl/GridSampler jsk_pcl/HSIColorFilter jsk_pcl/HandleEstimator jsk_pcl/HeightmapConverter jsk_pcl/HeightmapMorphologicalFiltering jsk_pcl/HeightmapTimeAccumulation jsk_pcl/HeightmapToPointCloud jsk_pcl/HintedHandleEstimator jsk_pcl/HintedPlaneDetector jsk_pcl/HintedStickFinder jsk_pcl/ICPRegistration jsk_pcl/ImageRotateNodelet jsk_pcl/IncrementalModelRegistration jsk_pcl/InteractiveCuboidLikelihood jsk_pcl/IntermittentImageAnnotator jsk_pcl/JointStateStaticFilter jsk_pcl/KeypointsPublisher jsk_pcl/Kinfu jsk_pcl/LINEMODDetector jsk_pcl/LINEMODTrainer jsk_pcl/LineSegmentCollector jsk_pcl/LineSegmentDetector jsk_pcl/MaskImageClusterFilter jsk_pcl/MaskImageFilter jsk_pcl/MaskImageToDepthConsideredMaskImage jsk_pcl/MaskImageToPointIndices jsk_pcl/MovingLeastSquareSmoothing jsk_pcl/MultiPlaneExtraction jsk_pcl/MultiPlaneSACSegmentation jsk_pcl/NormalConcatenater jsk_pcl/NormalDirectionFilter jsk_pcl/NormalEstimationIntegralImage jsk_pcl/NormalEstimationOMP jsk_pcl/NormalFlipToFrame jsk_pcl/OctomapServerContact jsk_pcl/OctreeChangePublisher jsk_pcl/OctreeVoxelGrid jsk_pcl/OrganizedEdgeDetector jsk_pcl/OrganizedMultiPlaneSegmentation jsk_pcl/OrganizedPassThrough jsk_pcl/OrganizedPointCloudToPointIndices jsk_pcl/PCDReaderWithPose jsk_pcl/PPFRegistration jsk_pcl/ParallelEdgeFinder jsk_pcl/ParticleFilterTracking jsk_pcl/PeopleDetection jsk_pcl/PlanarPointCloudSimulator jsk_pcl/PlaneConcatenator jsk_pcl/PlaneReasoner jsk_pcl/PlaneRejector jsk_pcl/PlaneSupportedCuboidEstimator jsk_pcl/PointCloudLocalization jsk_pcl/PointCloudToClusterPointIndices jsk_pcl/PointCloudToSTL jsk_pcl/PointIndicesToMaskImage jsk_pcl/PointcloudDatabaseServer jsk_pcl/PointcloudScreenpoint jsk_pcl/PolygonAppender jsk_pcl/PolygonArrayAngleLikelihood jsk_pcl/PolygonArrayAreaLikelihood jsk_pcl/PolygonArrayDistanceLikelihood jsk_pcl/PolygonArrayFootAngleLikelihood jsk_pcl/PolygonArrayTransformer jsk_pcl/PolygonArrayUnwrapper jsk_pcl/PolygonArrayWrapper jsk_pcl/PolygonFlipper jsk_pcl/PolygonMagnifier jsk_pcl/PolygonPointsSampler jsk_pcl/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl/PrimitiveShapeClassifier jsk_pcl/RGBColorFilter jsk_pcl/ROIClipper jsk_pcl/RearrangeBoundingBox jsk_pcl/RegionGrowingMultiplePlaneSegmentation jsk_pcl/RegionGrowingSegmentation jsk_pcl/ResizePointsPublisher jsk_pcl/SelectedClusterPublisher jsk_pcl/Snapit jsk_pcl/SphericalPointCloudSimulator jsk_pcl/StaticPolygonArrayPublisher jsk_pcl/SupervoxelSegmentation jsk_pcl/TargetAdaptiveTracking jsk_pcl/TfTransformBoundingBox jsk_pcl/TfTransformBoundingBoxArray jsk_pcl/TfTransformCloud jsk_pcl/TiltLaserListener jsk_pcl/TorusFinder jsk_pcl/TransformPointcloudInBoundingBox jsk_pcl/VoxelGridDownsampleDecoder jsk_pcl/VoxelGridDownsampleManager jsk_pcl/VoxelGridLargeScale jsk_pcl_utils/AddPointIndices jsk_pcl_utils/BoundingBoxArrayToBoundingBox jsk_pcl_utils/CentroidPublisher jsk_pcl_utils/CloudOnPlane jsk_pcl_utils/ClusterPointIndicesToPointIndices jsk_pcl_utils/ColorizeDistanceFromPlane jsk_pcl_utils/ColorizeHeight2DMapping jsk_pcl_utils/DelayPointCloud jsk_pcl_utils/DepthImageError jsk_pcl_utils/LabelToClusterPointIndices jsk_pcl_utils/MarkerArrayVoxelToPointCloud jsk_pcl_utils/MaskImageToDepthConsideredMaskImage jsk_pcl_utils/MaskImageToPointIndices jsk_pcl_utils/NormalConcatenater jsk_pcl_utils/NormalFlipToFrame jsk_pcl_utils/PCDReaderWithPose jsk_pcl_utils/PlanarPointCloudSimulator jsk_pcl_utils/PlaneConcatenator jsk_pcl_utils/PlaneReasoner jsk_pcl_utils/PlaneRejector jsk_pcl_utils/PointCloudRelativeFromPoseStamped jsk_pcl_utils/PointCloudToClusterPointIndices jsk_pcl_utils/PointCloudToMaskImage jsk_pcl_utils/PointCloudToPCD jsk_pcl_utils/PointCloudToPointIndices jsk_pcl_utils/PointCloudToSTL jsk_pcl_utils/PointCloudXYZRGBToXYZ jsk_pcl_utils/PointCloudXYZToXYZRGB jsk_pcl_utils/PointIndicesToClusterPointIndices jsk_pcl_utils/PointIndicesToMaskImage jsk_pcl_utils/PolygonAppender jsk_pcl_utils/PolygonArrayAngleLikelihood jsk_pcl_utils/PolygonArrayAreaLikelihood jsk_pcl_utils/PolygonArrayDistanceLikelihood jsk_pcl_utils/PolygonArrayFootAngleLikelihood jsk_pcl_utils/PolygonArrayLikelihoodFilter jsk_pcl_utils/PolygonArrayTransformer jsk_pcl_utils/PolygonArrayUnwrapper jsk_pcl_utils/PolygonArrayWrapper jsk_pcl_utils/PolygonFlipper jsk_pcl_utils/PolygonMagnifier jsk_pcl_utils/PolygonPointsSampler jsk_pcl_utils/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl_utils/SphericalPointCloudSimulator jsk_pcl_utils/StaticPolygonArrayPublisher jsk_pcl_utils/SubtractPointIndices jsk_pcl_utils/TfTransformBoundingBox jsk_pcl_utils/TfTransformBoundingBoxArray jsk_pcl_utils/TfTransformCloud jsk_pcl_utils/TransformPointcloudInBoundingBox jsk_topic_tools/Block jsk_topic_tools/DeprecatedRelay jsk_topic_tools/HzMeasure jsk_topic_tools/LightweightThrottle jsk_topic_tools/MUX jsk_topic_tools/Passthrough jsk_topic_tools/Relay jsk_topic_tools/Snapshot jsk_topic_tools/StealthRelay jsk_topic_tools/StringRelay jsk_topic_tools/SynchronizedThrottle jsk_topic_tools/VitalCheckerNodelet jsk_topic_tools_test/LogUtils laser_filters/scan_to_cloud_filter_chain laser_proc/LaserProcNodelet mesh_filter/DepthSelfFiltering nodelet_tutorial_math/Plus octomap_color_server/OctomapServerNodelet octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory resized_image_transport/ImageResizer resized_image_transport/LogPolar rtabmap_legacy/data_odom_sync rtabmap_legacy/data_throttle rtabmap_legacy/obstacles_detection_old rtabmap_legacy/stereo_throttle rtabmap_legacy/undistort_depth rtabmap_odom/icp_odometry rtabmap_odom/rgbd_odometry rtabmap_odom/rgbdicp_odometry rtabmap_odom/stereo_odometry rtabmap_slam/rtabmap rtabmap_sync/rgb_sync rtabmap_sync/rgbd_sync rtabmap_sync/rgbdx_sync rtabmap_sync/rtabmap rtabmap_sync/stereo_sync rtabmap_util/disparity_to_depth rtabmap_util/imu_to_tf rtabmap_util/lidar_deskewing rtabmap_util/obstacles_detection rtabmap_util/point_cloud_aggregator rtabmap_util/point_cloud_assembler rtabmap_util/point_cloud_xyz rtabmap_util/point_cloud_xyzrgb rtabmap_util/pointcloud_to_depthimage rtabmap_util/rgb_sync rtabmap_util/rgbd_relay rtabmap_util/rgbd_split rtabmap_util/stereo_sync stereo_image_proc/disparity stereo_image_proc/point_cloud2 [ERROR] [1682066426.105748691]: Failed to load nodelet [/locobot/rtabmap/points_xyzrgb] of type [rtabmap_ros/point_cloud_xyzrgb] even after refreshing the cache: According to the loaded plugin descriptions the class rtabmap_ros/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are RobotLocalization/EkfNodelet RobotLocalization/NavSatTransformNodelet RobotLocalization/UkfNodelet SlamGMappingNodelet apriltag_ros/ContinuousDetector depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/point_cloud_xyzrgb_radial depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image imu_filter_madgwick/ImuFilterNodelet jsk_pcl/AddColorFromImage jsk_pcl/AddColorFromImageToOrganized jsk_pcl/AddPointIndices jsk_pcl/AttentionClipper jsk_pcl/BilateralFilter jsk_pcl/BorderEstimator jsk_pcl/BoundingBoxFilter jsk_pcl/BoundingBoxOcclusionRejector jsk_pcl/CaptureStereoSynchronizer jsk_pcl/CentroidPublisher jsk_pcl/ClusterPointIndicesDecomposer jsk_pcl/ClusterPointIndicesDecomposerZAxis jsk_pcl/CollisionDetector jsk_pcl/ColorBasedRegionGrowingSegmentation jsk_pcl/ColorHistogram jsk_pcl/ColorHistogramClassifier jsk_pcl/ColorHistogramFilter jsk_pcl/ColorHistogramMatcher jsk_pcl/ColorizeDistanceFromPlane jsk_pcl/ColorizeHeight2DMapping jsk_pcl/ColorizeMapRandomForest jsk_pcl/ColorizeRandomForest jsk_pcl/ConvexConnectedVoxels jsk_pcl/DelayPointCloud jsk_pcl/DepthCalibration jsk_pcl/DepthImageCreator jsk_pcl/DepthImageError jsk_pcl/EdgeDepthRefinement jsk_pcl/EdgebasedCubeFinder jsk_pcl/EnvironmentPlaneModeling jsk_pcl/EuclideanClustering jsk_pcl/ExtractCuboidParticlesTopN jsk_pcl/ExtractIndices jsk_pcl/FeatureRegistration jsk_pcl/FindObjectOnPlane jsk_pcl/FisheyeSpherePublisher jsk_pcl/FuseDepthImages jsk_pcl/FuseRGBImages jsk_pcl/GridSampler jsk_pcl/HSIColorFilter jsk_pcl/HandleEstimator jsk_pcl/HeightmapConverter jsk_pcl/HeightmapMorphologicalFiltering jsk_pcl/HeightmapTimeAccumulation jsk_pcl/HeightmapToPointCloud jsk_pcl/HintedHandleEstimator jsk_pcl/HintedPlaneDetector jsk_pcl/HintedStickFinder jsk_pcl/ICPRegistration jsk_pcl/ImageRotateNodelet jsk_pcl/IncrementalModelRegistration jsk_pcl/InteractiveCuboidLikelihood jsk_pcl/IntermittentImageAnnotator jsk_pcl/JointStateStaticFilter jsk_pcl/KeypointsPublisher jsk_pcl/Kinfu jsk_pcl/LINEMODDetector jsk_pcl/LINEMODTrainer jsk_pcl/LineSegmentCollector jsk_pcl/LineSegmentDetector jsk_pcl/MaskImageClusterFilter jsk_pcl/MaskImageFilter jsk_pcl/MaskImageToDepthConsideredMaskImage jsk_pcl/MaskImageToPointIndices jsk_pcl/MovingLeastSquareSmoothing jsk_pcl/MultiPlaneExtraction jsk_pcl/MultiPlaneSACSegmentation jsk_pcl/NormalConcatenater jsk_pcl/NormalDirectionFilter jsk_pcl/NormalEstimationIntegralImage jsk_pcl/NormalEstimationOMP jsk_pcl/NormalFlipToFrame jsk_pcl/OctomapServerContact jsk_pcl/OctreeChangePublisher jsk_pcl/OctreeVoxelGrid jsk_pcl/OrganizedEdgeDetector jsk_pcl/OrganizedMultiPlaneSegmentation jsk_pcl/OrganizedPassThrough jsk_pcl/OrganizedPointCloudToPointIndices jsk_pcl/PCDReaderWithPose jsk_pcl/PPFRegistration jsk_pcl/ParallelEdgeFinder jsk_pcl/ParticleFilterTracking jsk_pcl/PeopleDetection jsk_pcl/PlanarPointCloudSimulator jsk_pcl/PlaneConcatenator jsk_pcl/PlaneReasoner jsk_pcl/PlaneRejector jsk_pcl/PlaneSupportedCuboidEstimator jsk_pcl/PointCloudLocalization jsk_pcl/PointCloudToClusterPointIndices jsk_pcl/PointCloudToSTL jsk_pcl/PointIndicesToMaskImage jsk_pcl/PointcloudDatabaseServer jsk_pcl/PointcloudScreenpoint jsk_pcl/PolygonAppender jsk_pcl/PolygonArrayAngleLikelihood jsk_pcl/PolygonArrayAreaLikelihood jsk_pcl/PolygonArrayDistanceLikelihood jsk_pcl/PolygonArrayFootAngleLikelihood jsk_pcl/PolygonArrayTransformer jsk_pcl/PolygonArrayUnwrapper jsk_pcl/PolygonArrayWrapper jsk_pcl/PolygonFlipper jsk_pcl/PolygonMagnifier jsk_pcl/PolygonPointsSampler jsk_pcl/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl/PrimitiveShapeClassifier jsk_pcl/RGBColorFilter jsk_pcl/ROIClipper jsk_pcl/RearrangeBoundingBox jsk_pcl/RegionGrowingMultiplePlaneSegmentation jsk_pcl/RegionGrowingSegmentation jsk_pcl/ResizePointsPublisher jsk_pcl/SelectedClusterPublisher jsk_pcl/Snapit jsk_pcl/SphericalPointCloudSimulator jsk_pcl/StaticPolygonArrayPublisher jsk_pcl/SupervoxelSegmentation jsk_pcl/TargetAdaptiveTracking jsk_pcl/TfTransformBoundingBox jsk_pcl/TfTransformBoundingBoxArray jsk_pcl/TfTransformCloud jsk_pcl/TiltLaserListener jsk_pcl/TorusFinder jsk_pcl/TransformPointcloudInBoundingBox jsk_pcl/VoxelGridDownsampleDecoder jsk_pcl/VoxelGridDownsampleManager jsk_pcl/VoxelGridLargeScale jsk_pcl_utils/AddPointIndices jsk_pcl_utils/BoundingBoxArrayToBoundingBox jsk_pcl_utils/CentroidPublisher jsk_pcl_utils/CloudOnPlane jsk_pcl_utils/ClusterPointIndicesToPointIndices jsk_pcl_utils/ColorizeDistanceFromPlane jsk_pcl_utils/ColorizeHeight2DMapping jsk_pcl_utils/DelayPointCloud jsk_pcl_utils/DepthImageError jsk_pcl_utils/LabelToClusterPointIndices jsk_pcl_utils/MarkerArrayVoxelToPointCloud jsk_pcl_utils/MaskImageToDepthConsideredMaskImage jsk_pcl_utils/MaskImageToPointIndices jsk_pcl_utils/NormalConcatenater jsk_pcl_utils/NormalFlipToFrame jsk_pcl_utils/PCDReaderWithPose jsk_pcl_utils/PlanarPointCloudSimulator jsk_pcl_utils/PlaneConcatenator jsk_pcl_utils/PlaneReasoner jsk_pcl_utils/PlaneRejector jsk_pcl_utils/PointCloudRelativeFromPoseStamped jsk_pcl_utils/PointCloudToClusterPointIndices jsk_pcl_utils/PointCloudToMaskImage jsk_pcl_utils/PointCloudToPCD jsk_pcl_utils/PointCloudToPointIndices jsk_pcl_utils/PointCloudToSTL jsk_pcl_utils/PointCloudXYZRGBToXYZ jsk_pcl_utils/PointCloudXYZToXYZRGB jsk_pcl_utils/PointIndicesToClusterPointIndices jsk_pcl_utils/PointIndicesToMaskImage jsk_pcl_utils/PolygonAppender jsk_pcl_utils/PolygonArrayAngleLikelihood jsk_pcl_utils/PolygonArrayAreaLikelihood jsk_pcl_utils/PolygonArrayDistanceLikelihood jsk_pcl_utils/PolygonArrayFootAngleLikelihood jsk_pcl_utils/PolygonArrayLikelihoodFilter jsk_pcl_utils/PolygonArrayTransformer jsk_pcl_utils/PolygonArrayUnwrapper jsk_pcl_utils/PolygonArrayWrapper jsk_pcl_utils/PolygonFlipper jsk_pcl_utils/PolygonMagnifier jsk_pcl_utils/PolygonPointsSampler jsk_pcl_utils/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl_utils/SphericalPointCloudSimulator jsk_pcl_utils/StaticPolygonArrayPublisher jsk_pcl_utils/SubtractPointIndices jsk_pcl_utils/TfTransformBoundingBox jsk_pcl_utils/TfTransformBoundingBoxArray jsk_pcl_utils/TfTransformCloud jsk_pcl_utils/TransformPointcloudInBoundingBox jsk_topic_tools/Block jsk_topic_tools/DeprecatedRelay jsk_topic_tools/HzMeasure jsk_topic_tools/LightweightThrottle jsk_topic_tools/MUX jsk_topic_tools/Passthrough jsk_topic_tools/Relay jsk_topic_tools/Snapshot jsk_topic_tools/StealthRelay jsk_topic_tools/StringRelay jsk_topic_tools/SynchronizedThrottle jsk_topic_tools/VitalCheckerNodelet jsk_topic_tools_test/LogUtils laser_filters/scan_to_cloud_filter_chain laser_proc/LaserProcNodelet mesh_filter/DepthSelfFiltering nodelet_tutorial_math/Plus octomap_color_server/OctomapServerNodelet octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory resized_image_transport/ImageResizer resized_image_transport/LogPolar rtabmap_legacy/data_odom_sync rtabmap_legacy/data_throttle rtabmap_legacy/obstacles_detection_old rtabmap_legacy/stereo_throttle rtabmap_legacy/undistort_depth rtabmap_odom/icp_odometry rtabmap_odom/rgbd_odometry rtabmap_odom/rgbdicp_odometry rtabmap_odom/stereo_odometry rtabmap_slam/rtabmap rtabmap_sync/rgb_sync rtabmap_sync/rgbd_sync rtabmap_sync/rgbdx_sync rtabmap_sync/rtabmap rtabmap_sync/stereo_sync rtabmap_util/disparity_to_depth rtabmap_util/imu_to_tf rtabmap_util/lidar_deskewing rtabmap_util/obstacles_detection rtabmap_util/point_cloud_aggregator rtabmap_util/point_cloud_assembler rtabmap_util/point_cloud_xyz rtabmap_util/point_cloud_xyzrgb rtabmap_util/pointcloud_to_depthimage rtabmap_util/rgb_sync rtabmap_util/rgbd_relay rtabmap_util/rgbd_split rtabmap_util/stereo_sync stereo_image_proc/disparity stereo_image_proc/point_cloud2 [ERROR] [1682066426.107111759]: The error before refreshing the cache was: According to the loaded plugin descriptions the class rtabmap_ros/point_cloud_xyzrgb with base class type nodelet::Nodelet does not exist. Declared types are RobotLocalization/EkfNodelet RobotLocalization/NavSatTransformNodelet RobotLocalization/UkfNodelet SlamGMappingNodelet apriltag_ros/ContinuousDetector depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/point_cloud_xyzrgb_radial depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image imu_filter_madgwick/ImuFilterNodelet jsk_pcl/AddColorFromImage jsk_pcl/AddColorFromImageToOrganized jsk_pcl/AddPointIndices jsk_pcl/AttentionClipper jsk_pcl/BilateralFilter jsk_pcl/BorderEstimator jsk_pcl/BoundingBoxFilter jsk_pcl/BoundingBoxOcclusionRejector jsk_pcl/CaptureStereoSynchronizer jsk_pcl/CentroidPublisher jsk_pcl/ClusterPointIndicesDecomposer jsk_pcl/ClusterPointIndicesDecomposerZAxis jsk_pcl/CollisionDetector jsk_pcl/ColorBasedRegionGrowingSegmentation jsk_pcl/ColorHistogram jsk_pcl/ColorHistogramClassifier jsk_pcl/ColorHistogramFilter jsk_pcl/ColorHistogramMatcher jsk_pcl/ColorizeDistanceFromPlane jsk_pcl/ColorizeHeight2DMapping jsk_pcl/ColorizeMapRandomForest jsk_pcl/ColorizeRandomForest jsk_pcl/ConvexConnectedVoxels jsk_pcl/DelayPointCloud jsk_pcl/DepthCalibration jsk_pcl/DepthImageCreator jsk_pcl/DepthImageError jsk_pcl/EdgeDepthRefinement jsk_pcl/EdgebasedCubeFinder jsk_pcl/EnvironmentPlaneModeling jsk_pcl/EuclideanClustering jsk_pcl/ExtractCuboidParticlesTopN jsk_pcl/ExtractIndices jsk_pcl/FeatureRegistration jsk_pcl/FindObjectOnPlane jsk_pcl/FisheyeSpherePublisher jsk_pcl/FuseDepthImages jsk_pcl/FuseRGBImages jsk_pcl/GridSampler jsk_pcl/HSIColorFilter jsk_pcl/HandleEstimator jsk_pcl/HeightmapConverter jsk_pcl/HeightmapMorphologicalFiltering jsk_pcl/HeightmapTimeAccumulation jsk_pcl/HeightmapToPointCloud jsk_pcl/HintedHandleEstimator jsk_pcl/HintedPlaneDetector jsk_pcl/HintedStickFinder jsk_pcl/ICPRegistration jsk_pcl/ImageRotateNodelet jsk_pcl/IncrementalModelRegistration jsk_pcl/InteractiveCuboidLikelihood jsk_pcl/IntermittentImageAnnotator jsk_pcl/JointStateStaticFilter jsk_pcl/KeypointsPublisher jsk_pcl/Kinfu jsk_pcl/LINEMODDetector jsk_pcl/LINEMODTrainer jsk_pcl/LineSegmentCollector jsk_pcl/LineSegmentDetector jsk_pcl/MaskImageClusterFilter jsk_pcl/MaskImageFilter jsk_pcl/MaskImageToDepthConsideredMaskImage jsk_pcl/MaskImageToPointIndices jsk_pcl/MovingLeastSquareSmoothing jsk_pcl/MultiPlaneExtraction jsk_pcl/MultiPlaneSACSegmentation jsk_pcl/NormalConcatenater jsk_pcl/NormalDirectionFilter jsk_pcl/NormalEstimationIntegralImage jsk_pcl/NormalEstimationOMP jsk_pcl/NormalFlipToFrame jsk_pcl/OctomapServerContact jsk_pcl/OctreeChangePublisher jsk_pcl/OctreeVoxelGrid jsk_pcl/OrganizedEdgeDetector jsk_pcl/OrganizedMultiPlaneSegmentation jsk_pcl/OrganizedPassThrough jsk_pcl/OrganizedPointCloudToPointIndices jsk_pcl/PCDReaderWithPose jsk_pcl/PPFRegistration jsk_pcl/ParallelEdgeFinder jsk_pcl/ParticleFilterTracking jsk_pcl/PeopleDetection jsk_pcl/PlanarPointCloudSimulator jsk_pcl/PlaneConcatenator jsk_pcl/PlaneReasoner jsk_pcl/PlaneRejector jsk_pcl/PlaneSupportedCuboidEstimator jsk_pcl/PointCloudLocalization jsk_pcl/PointCloudToClusterPointIndices jsk_pcl/PointCloudToSTL jsk_pcl/PointIndicesToMaskImage jsk_pcl/PointcloudDatabaseServer jsk_pcl/PointcloudScreenpoint jsk_pcl/PolygonAppender jsk_pcl/PolygonArrayAngleLikelihood jsk_pcl/PolygonArrayAreaLikelihood jsk_pcl/PolygonArrayDistanceLikelihood jsk_pcl/PolygonArrayFootAngleLikelihood jsk_pcl/PolygonArrayTransformer jsk_pcl/PolygonArrayUnwrapper jsk_pcl/PolygonArrayWrapper jsk_pcl/PolygonFlipper jsk_pcl/PolygonMagnifier jsk_pcl/PolygonPointsSampler jsk_pcl/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl/PrimitiveShapeClassifier jsk_pcl/RGBColorFilter jsk_pcl/ROIClipper jsk_pcl/RearrangeBoundingBox jsk_pcl/RegionGrowingMultiplePlaneSegmentation jsk_pcl/RegionGrowingSegmentation jsk_pcl/ResizePointsPublisher jsk_pcl/SelectedClusterPublisher jsk_pcl/Snapit jsk_pcl/SphericalPointCloudSimulator jsk_pcl/StaticPolygonArrayPublisher jsk_pcl/SupervoxelSegmentation jsk_pcl/TargetAdaptiveTracking jsk_pcl/TfTransformBoundingBox jsk_pcl/TfTransformBoundingBoxArray jsk_pcl/TfTransformCloud jsk_pcl/TiltLaserListener jsk_pcl/TorusFinder jsk_pcl/TransformPointcloudInBoundingBox jsk_pcl/VoxelGridDownsampleDecoder jsk_pcl/VoxelGridDownsampleManager jsk_pcl/VoxelGridLargeScale jsk_pcl_utils/AddPointIndices jsk_pcl_utils/BoundingBoxArrayToBoundingBox jsk_pcl_utils/CentroidPublisher jsk_pcl_utils/CloudOnPlane jsk_pcl_utils/ClusterPointIndicesToPointIndices jsk_pcl_utils/ColorizeDistanceFromPlane jsk_pcl_utils/ColorizeHeight2DMapping jsk_pcl_utils/DelayPointCloud jsk_pcl_utils/DepthImageError jsk_pcl_utils/LabelToClusterPointIndices jsk_pcl_utils/MarkerArrayVoxelToPointCloud jsk_pcl_utils/MaskImageToDepthConsideredMaskImage jsk_pcl_utils/MaskImageToPointIndices jsk_pcl_utils/NormalConcatenater jsk_pcl_utils/NormalFlipToFrame jsk_pcl_utils/PCDReaderWithPose jsk_pcl_utils/PlanarPointCloudSimulator jsk_pcl_utils/PlaneConcatenator jsk_pcl_utils/PlaneReasoner jsk_pcl_utils/PlaneRejector jsk_pcl_utils/PointCloudRelativeFromPoseStamped jsk_pcl_utils/PointCloudToClusterPointIndices jsk_pcl_utils/PointCloudToMaskImage jsk_pcl_utils/PointCloudToPCD jsk_pcl_utils/PointCloudToPointIndices jsk_pcl_utils/PointCloudToSTL jsk_pcl_utils/PointCloudXYZRGBToXYZ jsk_pcl_utils/PointCloudXYZToXYZRGB jsk_pcl_utils/PointIndicesToClusterPointIndices jsk_pcl_utils/PointIndicesToMaskImage jsk_pcl_utils/PolygonAppender jsk_pcl_utils/PolygonArrayAngleLikelihood jsk_pcl_utils/PolygonArrayAreaLikelihood jsk_pcl_utils/PolygonArrayDistanceLikelihood jsk_pcl_utils/PolygonArrayFootAngleLikelihood jsk_pcl_utils/PolygonArrayLikelihoodFilter jsk_pcl_utils/PolygonArrayTransformer jsk_pcl_utils/PolygonArrayUnwrapper jsk_pcl_utils/PolygonArrayWrapper jsk_pcl_utils/PolygonFlipper jsk_pcl_utils/PolygonMagnifier jsk_pcl_utils/PolygonPointsSampler jsk_pcl_utils/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl_utils/SphericalPointCloudSimulator jsk_pcl_utils/StaticPolygonArrayPublisher jsk_pcl_utils/SubtractPointIndices jsk_pcl_utils/TfTransformBoundingBox jsk_pcl_utils/TfTransformBoundingBoxArray jsk_pcl_utils/TfTransformCloud jsk_pcl_utils/TransformPointcloudInBoundingBox jsk_topic_tools/Block jsk_topic_tools/DeprecatedRelay jsk_topic_tools/HzMeasure jsk_topic_tools/LightweightThrottle jsk_topic_tools/MUX jsk_topic_tools/Passthrough jsk_topic_tools/Relay jsk_topic_tools/Snapshot jsk_topic_tools/StealthRelay jsk_topic_tools/StringRelay jsk_topic_tools/SynchronizedThrottle jsk_topic_tools/VitalCheckerNodelet jsk_topic_tools_test/LogUtils laser_filters/scan_to_cloud_filter_chain laser_proc/LaserProcNodelet mesh_filter/DepthSelfFiltering nodelet_tutorial_math/Plus octomap_color_server/OctomapServerNodelet octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory resized_image_transport/ImageResizer resized_image_transport/LogPolar rtabmap_legacy/data_odom_sync rtabmap_legacy/data_throttle rtabmap_legacy/obstacles_detection_old rtabmap_legacy/stereo_throttle rtabmap_legacy/undistort_depth rtabmap_odom/icp_odometry rtabmap_odom/rgbd_odometry rtabmap_odom/rgbdicp_odometry rtabmap_odom/stereo_odometry rtabmap_slam/rtabmap rtabmap_sync/rgb_sync rtabmap_sync/rgbd_sync rtabmap_sync/rgbdx_sync rtabmap_sync/rtabmap rtabmap_sync/stereo_sync rtabmap_util/disparity_to_depth rtabmap_util/imu_to_tf rtabmap_util/lidar_deskewing rtabmap_util/obstacles_detection rtabmap_util/point_cloud_aggregator rtabmap_util/point_cloud_assembler rtabmap_util/point_cloud_xyz rtabmap_util/point_cloud_xyzrgb rtabmap_util/pointcloud_to_depthimage rtabmap_util/rgb_sync rtabmap_util/rgbd_relay rtabmap_util/rgbd_split rtabmap_util/stereo_sync stereo_image_proc/disparity stereo_image_proc/point_cloud2 [ERROR] [1682066426.108107606]: Failed to load nodelet [/locobot/rtabmap/obstacle_detection] of type [rtabmap_ros/obstacles_detection] even after refreshing the cache: According to the loaded plugin descriptions the class rtabmap_ros/obstacles_detection with base class type nodelet::Nodelet does not exist. Declared types are RobotLocalization/EkfNodelet RobotLocalization/NavSatTransformNodelet RobotLocalization/UkfNodelet SlamGMappingNodelet apriltag_ros/ContinuousDetector depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/point_cloud_xyzrgb_radial depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image imu_filter_madgwick/ImuFilterNodelet jsk_pcl/AddColorFromImage jsk_pcl/AddColorFromImageToOrganized jsk_pcl/AddPointIndices jsk_pcl/AttentionClipper jsk_pcl/BilateralFilter jsk_pcl/BorderEstimator jsk_pcl/BoundingBoxFilter jsk_pcl/BoundingBoxOcclusionRejector jsk_pcl/CaptureStereoSynchronizer jsk_pcl/CentroidPublisher jsk_pcl/ClusterPointIndicesDecomposer jsk_pcl/ClusterPointIndicesDecomposerZAxis jsk_pcl/CollisionDetector jsk_pcl/ColorBasedRegionGrowingSegmentation jsk_pcl/ColorHistogram jsk_pcl/ColorHistogramClassifier jsk_pcl/ColorHistogramFilter jsk_pcl/ColorHistogramMatcher jsk_pcl/ColorizeDistanceFromPlane jsk_pcl/ColorizeHeight2DMapping jsk_pcl/ColorizeMapRandomForest jsk_pcl/ColorizeRandomForest jsk_pcl/ConvexConnectedVoxels jsk_pcl/DelayPointCloud jsk_pcl/DepthCalibration jsk_pcl/DepthImageCreator jsk_pcl/DepthImageError jsk_pcl/EdgeDepthRefinement jsk_pcl/EdgebasedCubeFinder jsk_pcl/EnvironmentPlaneModeling jsk_pcl/EuclideanClustering jsk_pcl/ExtractCuboidParticlesTopN jsk_pcl/ExtractIndices jsk_pcl/FeatureRegistration jsk_pcl/FindObjectOnPlane jsk_pcl/FisheyeSpherePublisher jsk_pcl/FuseDepthImages jsk_pcl/FuseRGBImages jsk_pcl/GridSampler jsk_pcl/HSIColorFilter jsk_pcl/HandleEstimator jsk_pcl/HeightmapConverter jsk_pcl/HeightmapMorphologicalFiltering jsk_pcl/HeightmapTimeAccumulation jsk_pcl/HeightmapToPointCloud jsk_pcl/HintedHandleEstimator jsk_pcl/HintedPlaneDetector jsk_pcl/HintedStickFinder jsk_pcl/ICPRegistration jsk_pcl/ImageRotateNodelet jsk_pcl/IncrementalModelRegistration jsk_pcl/InteractiveCuboidLikelihood jsk_pcl/IntermittentImageAnnotator jsk_pcl/JointStateStaticFilter jsk_pcl/KeypointsPublisher jsk_pcl/Kinfu jsk_pcl/LINEMODDetector jsk_pcl/LINEMODTrainer jsk_pcl/LineSegmentCollector jsk_pcl/LineSegmentDetector jsk_pcl/MaskImageClusterFilter jsk_pcl/MaskImageFilter jsk_pcl/MaskImageToDepthConsideredMaskImage jsk_pcl/MaskImageToPointIndices jsk_pcl/MovingLeastSquareSmoothing jsk_pcl/MultiPlaneExtraction jsk_pcl/MultiPlaneSACSegmentation jsk_pcl/NormalConcatenater jsk_pcl/NormalDirectionFilter jsk_pcl/NormalEstimationIntegralImage jsk_pcl/NormalEstimationOMP jsk_pcl/NormalFlipToFrame jsk_pcl/OctomapServerContact jsk_pcl/OctreeChangePublisher jsk_pcl/OctreeVoxelGrid jsk_pcl/OrganizedEdgeDetector jsk_pcl/OrganizedMultiPlaneSegmentation jsk_pcl/OrganizedPassThrough jsk_pcl/OrganizedPointCloudToPointIndices jsk_pcl/PCDReaderWithPose jsk_pcl/PPFRegistration jsk_pcl/ParallelEdgeFinder jsk_pcl/ParticleFilterTracking jsk_pcl/PeopleDetection jsk_pcl/PlanarPointCloudSimulator jsk_pcl/PlaneConcatenator jsk_pcl/PlaneReasoner jsk_pcl/PlaneRejector jsk_pcl/PlaneSupportedCuboidEstimator jsk_pcl/PointCloudLocalization jsk_pcl/PointCloudToClusterPointIndices jsk_pcl/PointCloudToSTL jsk_pcl/PointIndicesToMaskImage jsk_pcl/PointcloudDatabaseServer jsk_pcl/PointcloudScreenpoint jsk_pcl/PolygonAppender jsk_pcl/PolygonArrayAngleLikelihood jsk_pcl/PolygonArrayAreaLikelihood jsk_pcl/PolygonArrayDistanceLikelihood jsk_pcl/PolygonArrayFootAngleLikelihood jsk_pcl/PolygonArrayTransformer jsk_pcl/PolygonArrayUnwrapper jsk_pcl/PolygonArrayWrapper jsk_pcl/PolygonFlipper jsk_pcl/PolygonMagnifier jsk_pcl/PolygonPointsSampler jsk_pcl/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl/PrimitiveShapeClassifier jsk_pcl/RGBColorFilter jsk_pcl/ROIClipper jsk_pcl/RearrangeBoundingBox jsk_pcl/RegionGrowingMultiplePlaneSegmentation jsk_pcl/RegionGrowingSegmentation jsk_pcl/ResizePointsPublisher jsk_pcl/SelectedClusterPublisher jsk_pcl/Snapit jsk_pcl/SphericalPointCloudSimulator jsk_pcl/StaticPolygonArrayPublisher jsk_pcl/SupervoxelSegmentation jsk_pcl/TargetAdaptiveTracking jsk_pcl/TfTransformBoundingBox jsk_pcl/TfTransformBoundingBoxArray jsk_pcl/TfTransformCloud jsk_pcl/TiltLaserListener jsk_pcl/TorusFinder jsk_pcl/TransformPointcloudInBoundingBox jsk_pcl/VoxelGridDownsampleDecoder jsk_pcl/VoxelGridDownsampleManager jsk_pcl/VoxelGridLargeScale jsk_pcl_utils/AddPointIndices jsk_pcl_utils/BoundingBoxArrayToBoundingBox jsk_pcl_utils/CentroidPublisher jsk_pcl_utils/CloudOnPlane jsk_pcl_utils/ClusterPointIndicesToPointIndices jsk_pcl_utils/ColorizeDistanceFromPlane jsk_pcl_utils/ColorizeHeight2DMapping jsk_pcl_utils/DelayPointCloud jsk_pcl_utils/DepthImageError jsk_pcl_utils/LabelToClusterPointIndices jsk_pcl_utils/MarkerArrayVoxelToPointCloud jsk_pcl_utils/MaskImageToDepthConsideredMaskImage jsk_pcl_utils/MaskImageToPointIndices jsk_pcl_utils/NormalConcatenater jsk_pcl_utils/NormalFlipToFrame jsk_pcl_utils/PCDReaderWithPose jsk_pcl_utils/PlanarPointCloudSimulator jsk_pcl_utils/PlaneConcatenator jsk_pcl_utils/PlaneReasoner jsk_pcl_utils/PlaneRejector jsk_pcl_utils/PointCloudRelativeFromPoseStamped jsk_pcl_utils/PointCloudToClusterPointIndices jsk_pcl_utils/PointCloudToMaskImage jsk_pcl_utils/PointCloudToPCD jsk_pcl_utils/PointCloudToPointIndices jsk_pcl_utils/PointCloudToSTL jsk_pcl_utils/PointCloudXYZRGBToXYZ jsk_pcl_utils/PointCloudXYZToXYZRGB jsk_pcl_utils/PointIndicesToClusterPointIndices jsk_pcl_utils/PointIndicesToMaskImage jsk_pcl_utils/PolygonAppender jsk_pcl_utils/PolygonArrayAngleLikelihood jsk_pcl_utils/PolygonArrayAreaLikelihood jsk_pcl_utils/PolygonArrayDistanceLikelihood jsk_pcl_utils/PolygonArrayFootAngleLikelihood jsk_pcl_utils/PolygonArrayLikelihoodFilter jsk_pcl_utils/PolygonArrayTransformer jsk_pcl_utils/PolygonArrayUnwrapper jsk_pcl_utils/PolygonArrayWrapper jsk_pcl_utils/PolygonFlipper jsk_pcl_utils/PolygonMagnifier jsk_pcl_utils/PolygonPointsSampler jsk_pcl_utils/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl_utils/SphericalPointCloudSimulator jsk_pcl_utils/StaticPolygonArrayPublisher jsk_pcl_utils/SubtractPointIndices jsk_pcl_utils/TfTransformBoundingBox jsk_pcl_utils/TfTransformBoundingBoxArray jsk_pcl_utils/TfTransformCloud jsk_pcl_utils/TransformPointcloudInBoundingBox jsk_topic_tools/Block jsk_topic_tools/DeprecatedRelay jsk_topic_tools/HzMeasure jsk_topic_tools/LightweightThrottle jsk_topic_tools/MUX jsk_topic_tools/Passthrough jsk_topic_tools/Relay jsk_topic_tools/Snapshot jsk_topic_tools/StealthRelay jsk_topic_tools/StringRelay jsk_topic_tools/SynchronizedThrottle jsk_topic_tools/VitalCheckerNodelet jsk_topic_tools_test/LogUtils laser_filters/scan_to_cloud_filter_chain laser_proc/LaserProcNodelet mesh_filter/DepthSelfFiltering nodelet_tutorial_math/Plus octomap_color_server/OctomapServerNodelet octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory resized_image_transport/ImageResizer resized_image_transport/LogPolar rtabmap_legacy/data_odom_sync rtabmap_legacy/data_throttle rtabmap_legacy/obstacles_detection_old rtabmap_legacy/stereo_throttle rtabmap_legacy/undistort_depth rtabmap_odom/icp_odometry rtabmap_odom/rgbd_odometry rtabmap_odom/rgbdicp_odometry rtabmap_odom/stereo_odometry rtabmap_slam/rtabmap rtabmap_sync/rgb_sync rtabmap_sync/rgbd_sync rtabmap_sync/rgbdx_sync rtabmap_sync/rtabmap rtabmap_sync/stereo_sync rtabmap_util/disparity_to_depth rtabmap_util/imu_to_tf rtabmap_util/lidar_deskewing rtabmap_util/obstacles_detection rtabmap_util/point_cloud_aggregator rtabmap_util/point_cloud_assembler rtabmap_util/point_cloud_xyz rtabmap_util/point_cloud_xyzrgb rtabmap_util/pointcloud_to_depthimage rtabmap_util/rgb_sync rtabmap_util/rgbd_relay rtabmap_util/rgbd_split rtabmap_util/stereo_sync stereo_image_proc/disparity stereo_image_proc/point_cloud2 [ERROR] [1682066426.117660856]: The error before refreshing the cache was: According to the loaded plugin descriptions the class rtabmap_ros/obstacles_detection with base class type nodelet::Nodelet does not exist. Declared types are RobotLocalization/EkfNodelet RobotLocalization/NavSatTransformNodelet RobotLocalization/UkfNodelet SlamGMappingNodelet apriltag_ros/ContinuousDetector depth_image_proc/convert_metric depth_image_proc/crop_foremost depth_image_proc/disparity depth_image_proc/point_cloud_xyz depth_image_proc/point_cloud_xyz_radial depth_image_proc/point_cloud_xyzi depth_image_proc/point_cloud_xyzi_radial depth_image_proc/point_cloud_xyzrgb depth_image_proc/point_cloud_xyzrgb_radial depth_image_proc/register image_proc/crop_decimate image_proc/crop_nonZero image_proc/crop_non_zero image_proc/debayer image_proc/rectify image_proc/resize image_publisher/image_publisher image_rotate/image_rotate image_view/disparity image_view/image imu_filter_madgwick/ImuFilterNodelet jsk_pcl/AddColorFromImage jsk_pcl/AddColorFromImageToOrganized jsk_pcl/AddPointIndices jsk_pcl/AttentionClipper jsk_pcl/BilateralFilter jsk_pcl/BorderEstimator jsk_pcl/BoundingBoxFilter jsk_pcl/BoundingBoxOcclusionRejector jsk_pcl/CaptureStereoSynchronizer jsk_pcl/CentroidPublisher jsk_pcl/ClusterPointIndicesDecomposer jsk_pcl/ClusterPointIndicesDecomposerZAxis jsk_pcl/CollisionDetector jsk_pcl/ColorBasedRegionGrowingSegmentation jsk_pcl/ColorHistogram jsk_pcl/ColorHistogramClassifier jsk_pcl/ColorHistogramFilter jsk_pcl/ColorHistogramMatcher jsk_pcl/ColorizeDistanceFromPlane jsk_pcl/ColorizeHeight2DMapping jsk_pcl/ColorizeMapRandomForest jsk_pcl/ColorizeRandomForest jsk_pcl/ConvexConnectedVoxels jsk_pcl/DelayPointCloud jsk_pcl/DepthCalibration jsk_pcl/DepthImageCreator jsk_pcl/DepthImageError jsk_pcl/EdgeDepthRefinement jsk_pcl/EdgebasedCubeFinder jsk_pcl/EnvironmentPlaneModeling jsk_pcl/EuclideanClustering jsk_pcl/ExtractCuboidParticlesTopN jsk_pcl/ExtractIndices jsk_pcl/FeatureRegistration jsk_pcl/FindObjectOnPlane jsk_pcl/FisheyeSpherePublisher jsk_pcl/FuseDepthImages jsk_pcl/FuseRGBImages jsk_pcl/GridSampler jsk_pcl/HSIColorFilter jsk_pcl/HandleEstimator jsk_pcl/HeightmapConverter jsk_pcl/HeightmapMorphologicalFiltering jsk_pcl/HeightmapTimeAccumulation jsk_pcl/HeightmapToPointCloud jsk_pcl/HintedHandleEstimator jsk_pcl/HintedPlaneDetector jsk_pcl/HintedStickFinder jsk_pcl/ICPRegistration jsk_pcl/ImageRotateNodelet jsk_pcl/IncrementalModelRegistration jsk_pcl/InteractiveCuboidLikelihood jsk_pcl/IntermittentImageAnnotator jsk_pcl/JointStateStaticFilter jsk_pcl/KeypointsPublisher jsk_pcl/Kinfu jsk_pcl/LINEMODDetector jsk_pcl/LINEMODTrainer jsk_pcl/LineSegmentCollector jsk_pcl/LineSegmentDetector jsk_pcl/MaskImageClusterFilter jsk_pcl/MaskImageFilter jsk_pcl/MaskImageToDepthConsideredMaskImage jsk_pcl/MaskImageToPointIndices jsk_pcl/MovingLeastSquareSmoothing jsk_pcl/MultiPlaneExtraction jsk_pcl/MultiPlaneSACSegmentation jsk_pcl/NormalConcatenater jsk_pcl/NormalDirectionFilter jsk_pcl/NormalEstimationIntegralImage jsk_pcl/NormalEstimationOMP jsk_pcl/NormalFlipToFrame jsk_pcl/OctomapServerContact jsk_pcl/OctreeChangePublisher jsk_pcl/OctreeVoxelGrid jsk_pcl/OrganizedEdgeDetector jsk_pcl/OrganizedMultiPlaneSegmentation jsk_pcl/OrganizedPassThrough jsk_pcl/OrganizedPointCloudToPointIndices jsk_pcl/PCDReaderWithPose jsk_pcl/PPFRegistration jsk_pcl/ParallelEdgeFinder jsk_pcl/ParticleFilterTracking jsk_pcl/PeopleDetection jsk_pcl/PlanarPointCloudSimulator jsk_pcl/PlaneConcatenator jsk_pcl/PlaneReasoner jsk_pcl/PlaneRejector jsk_pcl/PlaneSupportedCuboidEstimator jsk_pcl/PointCloudLocalization jsk_pcl/PointCloudToClusterPointIndices jsk_pcl/PointCloudToSTL jsk_pcl/PointIndicesToMaskImage jsk_pcl/PointcloudDatabaseServer jsk_pcl/PointcloudScreenpoint jsk_pcl/PolygonAppender jsk_pcl/PolygonArrayAngleLikelihood jsk_pcl/PolygonArrayAreaLikelihood jsk_pcl/PolygonArrayDistanceLikelihood jsk_pcl/PolygonArrayFootAngleLikelihood jsk_pcl/PolygonArrayTransformer jsk_pcl/PolygonArrayUnwrapper jsk_pcl/PolygonArrayWrapper jsk_pcl/PolygonFlipper jsk_pcl/PolygonMagnifier jsk_pcl/PolygonPointsSampler jsk_pcl/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl/PrimitiveShapeClassifier jsk_pcl/RGBColorFilter jsk_pcl/ROIClipper jsk_pcl/RearrangeBoundingBox jsk_pcl/RegionGrowingMultiplePlaneSegmentation jsk_pcl/RegionGrowingSegmentation jsk_pcl/ResizePointsPublisher jsk_pcl/SelectedClusterPublisher jsk_pcl/Snapit jsk_pcl/SphericalPointCloudSimulator jsk_pcl/StaticPolygonArrayPublisher jsk_pcl/SupervoxelSegmentation jsk_pcl/TargetAdaptiveTracking jsk_pcl/TfTransformBoundingBox jsk_pcl/TfTransformBoundingBoxArray jsk_pcl/TfTransformCloud jsk_pcl/TiltLaserListener jsk_pcl/TorusFinder jsk_pcl/TransformPointcloudInBoundingBox jsk_pcl/VoxelGridDownsampleDecoder jsk_pcl/VoxelGridDownsampleManager jsk_pcl/VoxelGridLargeScale jsk_pcl_utils/AddPointIndices jsk_pcl_utils/BoundingBoxArrayToBoundingBox jsk_pcl_utils/CentroidPublisher jsk_pcl_utils/CloudOnPlane jsk_pcl_utils/ClusterPointIndicesToPointIndices jsk_pcl_utils/ColorizeDistanceFromPlane jsk_pcl_utils/ColorizeHeight2DMapping jsk_pcl_utils/DelayPointCloud jsk_pcl_utils/DepthImageError jsk_pcl_utils/LabelToClusterPointIndices jsk_pcl_utils/MarkerArrayVoxelToPointCloud jsk_pcl_utils/MaskImageToDepthConsideredMaskImage jsk_pcl_utils/MaskImageToPointIndices jsk_pcl_utils/NormalConcatenater jsk_pcl_utils/NormalFlipToFrame jsk_pcl_utils/PCDReaderWithPose jsk_pcl_utils/PlanarPointCloudSimulator jsk_pcl_utils/PlaneConcatenator jsk_pcl_utils/PlaneReasoner jsk_pcl_utils/PlaneRejector jsk_pcl_utils/PointCloudRelativeFromPoseStamped jsk_pcl_utils/PointCloudToClusterPointIndices jsk_pcl_utils/PointCloudToMaskImage jsk_pcl_utils/PointCloudToPCD jsk_pcl_utils/PointCloudToPointIndices jsk_pcl_utils/PointCloudToSTL jsk_pcl_utils/PointCloudXYZRGBToXYZ jsk_pcl_utils/PointCloudXYZToXYZRGB jsk_pcl_utils/PointIndicesToClusterPointIndices jsk_pcl_utils/PointIndicesToMaskImage jsk_pcl_utils/PolygonAppender jsk_pcl_utils/PolygonArrayAngleLikelihood jsk_pcl_utils/PolygonArrayAreaLikelihood jsk_pcl_utils/PolygonArrayDistanceLikelihood jsk_pcl_utils/PolygonArrayFootAngleLikelihood jsk_pcl_utils/PolygonArrayLikelihoodFilter jsk_pcl_utils/PolygonArrayTransformer jsk_pcl_utils/PolygonArrayUnwrapper jsk_pcl_utils/PolygonArrayWrapper jsk_pcl_utils/PolygonFlipper jsk_pcl_utils/PolygonMagnifier jsk_pcl_utils/PolygonPointsSampler jsk_pcl_utils/PoseWithCovarianceStampedToGaussianPointCloud jsk_pcl_utils/SphericalPointCloudSimulator jsk_pcl_utils/StaticPolygonArrayPublisher jsk_pcl_utils/SubtractPointIndices jsk_pcl_utils/TfTransformBoundingBox jsk_pcl_utils/TfTransformBoundingBoxArray jsk_pcl_utils/TfTransformCloud jsk_pcl_utils/TransformPointcloudInBoundingBox jsk_topic_tools/Block jsk_topic_tools/DeprecatedRelay jsk_topic_tools/HzMeasure jsk_topic_tools/LightweightThrottle jsk_topic_tools/MUX jsk_topic_tools/Passthrough jsk_topic_tools/Relay jsk_topic_tools/Snapshot jsk_topic_tools/StealthRelay jsk_topic_tools/StringRelay jsk_topic_tools/SynchronizedThrottle jsk_topic_tools/VitalCheckerNodelet jsk_topic_tools_test/LogUtils laser_filters/scan_to_cloud_filter_chain laser_proc/LaserProcNodelet mesh_filter/DepthSelfFiltering nodelet_tutorial_math/Plus octomap_color_server/OctomapServerNodelet octomap_server/OctomapServerNodelet openni2_camera/OpenNI2DriverNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid realsense2_camera/RealSenseNodeFactory resized_image_transport/ImageResizer resized_image_transport/LogPolar rtabmap_legacy/data_odom_sync rtabmap_legacy/data_throttle rtabmap_legacy/obstacles_detection_old rtabmap_legacy/stereo_throttle rtabmap_legacy/undistort_depth rtabmap_odom/icp_odometry rtabmap_odom/rgbd_odometry rtabmap_odom/rgbdicp_odometry rtabmap_odom/stereo_odometry rtabmap_slam/rtabmap rtabmap_sync/rgb_sync rtabmap_sync/rgbd_sync rtabmap_sync/rgbdx_sync rtabmap_sync/rtabmap rtabmap_sync/stereo_sync rtabmap_util/disparity_to_depth rtabmap_util/imu_to_tf rtabmap_util/lidar_deskewing rtabmap_util/obstacles_detection rtabmap_util/point_cloud_aggregator rtabmap_util/point_cloud_assembler rtabmap_util/point_cloud_xyz rtabmap_util/point_cloud_xyzrgb rtabmap_util/pointcloud_to_depthimage rtabmap_util/rgb_sync rtabmap_util/rgbd_relay rtabmap_util/rgbd_split rtabmap_util/stereo_sync stereo_image_proc/disparity stereo_image_proc/point_cloud2 [locobot/rtabmap/rgbd_sync-8] process has died [pid 14121, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet standalone rtabmap_ros/rgbd_sync rgb/image:=/locobot/camera/color/image_raw depth/image:=/locobot/camera/aligned_depth_to_color/image_raw rgb/camera_info:=/locobot/camera/color/camera_info rgbd_image:=rgbd_image __name:=rgbd_sync __log:=/home/andrea/.ros/log/2889a59a-e020-11ed-bf47-117224e5c93d/locobot-rtabmap-rgbd_sync-8.log]. log file: /home/andrea/.ros/log/2889a59a-e020-11ed-bf47-117224e5c93d/locobot-rtabmap-rgbd_sync-8*.log [INFO] [1682066426.433708, 0.000000]: Loading model XML from ros parameter robot_description [INFO] [1682066426.455262, 0.000000]: Waiting for service /gazebo/spawn_urdf_model [locobot/rtabmap/points_xyzrgb-9] process has died [pid 14126, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet standalone rtabmap_ros/point_cloud_xyzrgb cloud:=depth/color/voxels __name:=points_xyzrgb __log:=/home/andrea/.ros/log/2889a59a-e020-11ed-bf47-117224e5c93d/locobot-rtabmap-points_xyzrgb-9.log]. log file: /home/andrea/.ros/log/2889a59a-e020-11ed-bf47-117224e5c93d/locobot-rtabmap-points_xyzrgb-9*.log [locobot/rtabmap/obstacle_detection-10] process has died [pid 14128, exit code 255, cmd /opt/ros/noetic/lib/nodelet/nodelet standalone rtabmap_ros/obstacles_detection cloud:=depth/color/voxels ground:=depth/color/ground obstacles:=depth/color/obstacles __name:=obstacle_detection __log:=/home/andrea/.ros/log/2889a59a-e020-11ed-bf47-117224e5c93d/locobot-rtabmap-obstacle_detection-10.log]. log file: /home/andrea/.ros/log/2889a59a-e020-11ed-bf47-117224e5c93d/locobot-rtabmap-obstacle_detection-10*.log [ INFO] [1682066426.847378924]: Finished loading Gazebo ROS API Plugin. [ INFO] [1682066426.849538764]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting... [ INFO] [1682066426.950864696]: Finished loading Gazebo ROS API Plugin. [ INFO] [1682066426.952518191]: waitForService: Service [/gazebo_gui/set_physics_properties] has not been advertised, waiting... [ERROR] [1682066427.119483142]: PluginlibFactory: The plugin for class 'rtabmap_ros/Info' failed to load. Error: According to the loaded plugin descriptions the class rtabmap_ros/Info with base class type rviz::Display does not exist. Declared types are jsk_rviz_plugin/AmbientSound jsk_rviz_plugin/BoundingBox jsk_rviz_plugin/BoundingBoxArray jsk_rviz_plugin/CameraInfo jsk_rviz_plugin/Diagnostics jsk_rviz_plugin/Footstep jsk_rviz_plugin/HumanSkeletonArray jsk_rviz_plugin/LinearGauge jsk_rviz_plugin/NormalDisplay jsk_rviz_plugin/OverlayCamera jsk_rviz_plugin/OverlayDiagnostic jsk_rviz_plugin/OverlayImage jsk_rviz_plugin/OverlayMenu jsk_rviz_plugin/OverlayText jsk_rviz_plugin/PeoplePositionMeasurementArray jsk_rviz_plugin/Pictogram jsk_rviz_plugin/PictogramArray jsk_rviz_plugin/PieChart jsk_rviz_plugin/Plotter2D jsk_rviz_plugin/PolygonArray jsk_rviz_plugin/PoseArray jsk_rviz_plugin/QuietInteractiveMarker jsk_rviz_plugin/RvizScenePublisher jsk_rviz_plugin/SegmentArray jsk_rviz_plugin/SimpleOccupancyGridArray jsk_rviz_plugin/String jsk_rviz_plugin/TFTrajectory jsk_rviz_plugin/TargetVisualizer jsk_rviz_plugin/TorusArray jsk_rviz_plugin/TwistStamped jsk_rviz_plugin/VideoCapture moveit_rviz_plugin/MotionPlanning moveit_rviz_plugin/PlanningScene moveit_rviz_plugin/RobotState moveit_rviz_plugin/Trajectory rtabmap_rviz_plugins/Info rtabmap_rviz_plugins/MapCloud rtabmap_rviz_plugins/MapGraph rviz/AccelStamped rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/TwistStamped rviz/WrenchStamped rviz_plugin_tutorials/Imu [ERROR] [1682066427.119929002]: PluginlibFactory: The plugin for class 'rtabmap_ros/MapCloud' failed to load. Error: According to the loaded plugin descriptions the class rtabmap_ros/MapCloud with base class type rviz::Display does not exist. Declared types are jsk_rviz_plugin/AmbientSound jsk_rviz_plugin/BoundingBox jsk_rviz_plugin/BoundingBoxArray jsk_rviz_plugin/CameraInfo jsk_rviz_plugin/Diagnostics jsk_rviz_plugin/Footstep jsk_rviz_plugin/HumanSkeletonArray jsk_rviz_plugin/LinearGauge jsk_rviz_plugin/NormalDisplay jsk_rviz_plugin/OverlayCamera jsk_rviz_plugin/OverlayDiagnostic jsk_rviz_plugin/OverlayImage jsk_rviz_plugin/OverlayMenu jsk_rviz_plugin/OverlayText jsk_rviz_plugin/PeoplePositionMeasurementArray jsk_rviz_plugin/Pictogram jsk_rviz_plugin/PictogramArray jsk_rviz_plugin/PieChart jsk_rviz_plugin/Plotter2D jsk_rviz_plugin/PolygonArray jsk_rviz_plugin/PoseArray jsk_rviz_plugin/QuietInteractiveMarker jsk_rviz_plugin/RvizScenePublisher jsk_rviz_plugin/SegmentArray jsk_rviz_plugin/SimpleOccupancyGridArray jsk_rviz_plugin/String jsk_rviz_plugin/TFTrajectory jsk_rviz_plugin/TargetVisualizer jsk_rviz_plugin/TorusArray jsk_rviz_plugin/TwistStamped jsk_rviz_plugin/VideoCapture moveit_rviz_plugin/MotionPlanning moveit_rviz_plugin/PlanningScene moveit_rviz_plugin/RobotState moveit_rviz_plugin/Trajectory rtabmap_rviz_plugins/Info rtabmap_rviz_plugins/MapCloud rtabmap_rviz_plugins/MapGraph rviz/AccelStamped rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/TwistStamped rviz/WrenchStamped rviz_plugin_tutorials/Imu [ERROR] [1682066427.120027748]: PluginlibFactory: The plugin for class 'rtabmap_ros/MapGraph' failed to load. Error: According to the loaded plugin descriptions the class rtabmap_ros/MapGraph with base class type rviz::Display does not exist. Declared types are jsk_rviz_plugin/AmbientSound jsk_rviz_plugin/BoundingBox jsk_rviz_plugin/BoundingBoxArray jsk_rviz_plugin/CameraInfo jsk_rviz_plugin/Diagnostics jsk_rviz_plugin/Footstep jsk_rviz_plugin/HumanSkeletonArray jsk_rviz_plugin/LinearGauge jsk_rviz_plugin/NormalDisplay jsk_rviz_plugin/OverlayCamera jsk_rviz_plugin/OverlayDiagnostic jsk_rviz_plugin/OverlayImage jsk_rviz_plugin/OverlayMenu jsk_rviz_plugin/OverlayText jsk_rviz_plugin/PeoplePositionMeasurementArray jsk_rviz_plugin/Pictogram jsk_rviz_plugin/PictogramArray jsk_rviz_plugin/PieChart jsk_rviz_plugin/Plotter2D jsk_rviz_plugin/PolygonArray jsk_rviz_plugin/PoseArray jsk_rviz_plugin/QuietInteractiveMarker jsk_rviz_plugin/RvizScenePublisher jsk_rviz_plugin/SegmentArray jsk_rviz_plugin/SimpleOccupancyGridArray jsk_rviz_plugin/String jsk_rviz_plugin/TFTrajectory jsk_rviz_plugin/TargetVisualizer jsk_rviz_plugin/TorusArray jsk_rviz_plugin/TwistStamped jsk_rviz_plugin/VideoCapture moveit_rviz_plugin/MotionPlanning moveit_rviz_plugin/PlanningScene moveit_rviz_plugin/RobotState moveit_rviz_plugin/Trajectory rtabmap_rviz_plugins/Info rtabmap_rviz_plugins/MapCloud rtabmap_rviz_plugins/MapGraph rviz/AccelStamped rviz/Axes rviz/Camera rviz/DepthCloud rviz/Effort rviz/FluidPressure rviz/Grid rviz/GridCells rviz/Illuminance rviz/Image rviz/InteractiveMarkers rviz/LaserScan rviz/Map rviz/Marker rviz/MarkerArray rviz/Odometry rviz/Path rviz/PointCloud rviz/PointCloud2 rviz/PointStamped rviz/Polygon rviz/Pose rviz/PoseArray rviz/PoseWithCovariance rviz/Range rviz/RelativeHumidity rviz/RobotModel rviz/TF rviz/Temperature rviz/TwistStamped rviz/WrenchStamped rviz_plugin_tutorials/Imu
Robot Model
locobot_wx250s
Operating System
Ubuntu 20.04
ROS Distro
ROS 1 Noetic
Steps To Reproduce
No response
Relevant log output
No response
Additional Info
I saw that the rtabmap_ros package has been updated and that the arrangements of the various nodes within various subpackets have been changed. For other projects I actually ran the commands:
sudo apt updatesudo apt upgradeto update all the packages, so probably my rtabmap_ros has also been updated (and I can't return to older version) and therefore the launch files may no longer be able to run the various rtabmap nodes.
I don't know if I must manually modify the launch file or you are working on a new launch file. In the first case, could you help me to understand what changes I have to perform?
Thanks in advice for the help!