The execution of 'roslaunch legged_perceptive_controllers load_controller.launch' resulted in an error.

[nanbwrn]

When I finished launching Gazebo and entered the command 'roslaunch legged_perceptive_controllers load_controller.launch' in the terminal, the following error occurred:

Has anyone encountered this before? How should it be resolved?

[ERROR] [1699791872.342870409]: Failed to load nodelet [/livox_left_filter] of type [sensor_filters/pointcloud2_filter_chain] even after refreshing the cache: According to the loaded plugin descriptions the class sensor_filters/pointcloud2_filter_chain with base class type nodelet::Nodelet does not exist. Declared types are imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain 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 [ERROR] [1699791872.342943599]: The error before refreshing the cache was: According to the loaded plugin descriptions the class sensor_filters/pointcloud2_filter_chain with base class type nodelet::Nodelet does not exist. Declared types are imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain 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 [FATAL] [1699791872.343083695]: Failed to load nodelet '/livox_left_filterof typesensor_filters/pointcloud2_filter_chainto managerpoint_cloud_manager' [ERROR] [1699791872.382151614, 15.386000000]: Failed to load nodelet [/livox_right_filter] of type [sensor_filters/pointcloud2_filter_chain] even after refreshing the cache: According to the loaded plugin descriptions the class sensor_filters/pointcloud2_filter_chain with base class type nodelet::Nodelet does not exist. Declared types are imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain 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 [ERROR] [1699791872.382325156, 15.386000000]: The error before refreshing the cache was: According to the loaded plugin descriptions the class sensor_filters/pointcloud2_filter_chain with base class type nodelet::Nodelet does not exist. Declared types are imu_filter_madgwick/ImuFilterNodelet laser_filters/scan_to_cloud_filter_chain 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 [FATAL] [1699791872.382521467, 15.387000000]: Failed to load nodelet '/livox_right_filterof typesensor_filters/pointcloud2_filter_chainto managerpoint_cloud_manager' [ WARN] [1699791872.441934846]: Could not configure the filter chain. Will publish the raw elevation map without postprocessing! [ INFO] [1699791872.453172434]: Elevation mapping node started. [ INFO] [1699791872.491073583]: Elevation map grid resized to 167 rows and 167 columns. [ INFO] [1699791872.612192194, 15.605000000]: Subscribing to pointcloud: /front_camera/depth/color/points, queue_size: 1. [livox_right_filter-5] process has died [pid 24921, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load sensor_filters/pointcloud2_filter_chain point_cloud_manager ~input:=/livox/lidar_192_168_8_101 ~output:=/livox/right name:=livox_right_filter log:=/home/zhang/.ros/log/6219f5da-8156-11ee-8198-4889e7e4a71e/livox_right_filter-5.log]. log file: /home/zhang/.ros/log/6219f5da-8156-11ee-8198-4889e7e4a71e/livox_right_filter-5.log [livox_left_filter-6] process has died [pid 24931, exit code 255, cmd /opt/ros/melodic/lib/nodelet/nodelet load sensor_filters/pointcloud2_filter_chain point_cloud_manager ~input:=/livox/lidar_192_168_8_102 ~output:=/livox/left name:=livox_left_filter log:=/home/zhang/.ros/log/6219f5da-8156-11ee-8198-4889e7e4a71e/livox_left_filter-6.log]. log file: /home/zhang/.ros/log/6219f5da-8156-11ee-8198-4889e7e4a71e/livox_left_filter-6.log

Below is the video of the error.

https://github.com/qiayuanl/legged_perceptive/assets/132453617/83a90eea-0c91-42c5-a072-8c4e51045a48

The folders in the 'src' directory are as follows:

├── blasfeo │   ├── auxiliary │   ├── benchmarks │   ├── blas_api │   ├── blasfeo_hp_cm │   ├── blasfeo_hp_pm │   ├── blasfeo_ref │   ├── blasfeo_target.h.in │   ├── blasfeo_wr │   ├── Changelog.txt │   ├── cmake │   ├── CMakeLists.txt │   ├── doc │   ├── examples │   ├── experimental │   ├── guidelines.md │   ├── include │   ├── kernel │   ├── lib │   ├── LICENSE.txt │   ├── Makefile │   ├── Makefile.external_blas │   ├── Makefile.rule │   ├── microbenchmarks │   ├── netlib │   ├── README.md │   ├── sandbox │   ├── tests │   ├── TODOlist.txt │   ├── utils │   └── version ├── cgal5_catkin │   ├── cmake │   ├── CMakeLists.txt │   ├── package.xml │   └── README.md ├── convex_plane_decomposition │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   ├── src │   └── test ├── convex_plane_decomposition_msgs │   ├── CMakeLists.txt │   ├── msg │   └── package.xml ├── convex_plane_decomposition_ros │   ├── CMakeLists.txt │   ├── config │   ├── data │   ├── include │   ├── launch │   ├── package.xml │   ├── rviz │   ├── src │   └── test ├── elevation_mapping-master │   └── elevation_mapping-master ├── grid_map_filters_rsl │   ├── CMakeLists.txt │   ├── include │   ├── package.xml │   ├── src │   └── test ├── grid_map-master │   └── grid_map-master ├── hpp-fcl │   ├── cmake │   ├── CMakeLists.txt │   ├── cmake-modules │   ├── doc │   ├── include │   ├── INSTALL │   ├── LICENSE │   ├── NEWS │   ├── package.xml │   ├── python │   ├── README.md │   ├── src │   ├── test │   ├── third-parties │   └── travis_custom ├── kindr-master │   └── kindr-master ├── kindr_ros │   ├── kindr_msgs │   ├── kindr_ros │   ├── kindr_rviz_plugins │   ├── LICENSE │   ├── multi_dof_joint_trajectory_rviz_plugins │   └── README.md ├── legged_control-master │   ├── docs │   ├── legged_common │   ├── legged_control │   ├── legged_controllers │   ├── legged_estimation │   ├── legged_examples │   ├── legged_gazebo │   ├── legged_hw │   ├── legged_interface │   ├── legged_wbc │   ├── LICENSE │   ├── qpoases_catkin │   └── README.md ├── legged_perceptive-master │   └── legged_perceptive-master ├── message_logger │   ├── CHANGELOG.rst │   ├── cmake │   ├── CMakeLists.txt │   ├── include │   ├── launch │   ├── LICENSE │   ├── package.xml │   ├── README.md │   ├── src │   └── test ├── ocs2-main │   └── ocs2-main ├── ocs2_robotic_assets │   ├── CMakeLists.txt │   ├── docs │   ├── include │   ├── LICENSE │   ├── package.xml │   ├── README.md │   └── resources ├── pinocchio │   ├── benchmark │   ├── bindings │   ├── cmake │   ├── CMakeLists.txt │   ├── COPYING.LESSER │   ├── doc │   ├── examples │   ├── models │   ├── package.xml │   ├── README.md │   ├── src │   ├── travis_custom │   ├── unittest │   └── utils ├── realsense2_description │   ├── CHANGELOG.rst │   ├── CMakeLists.txt │   ├── launch │   ├── meshes │   ├── package.xml │   ├── rviz │   └── urdf └── realsense_gazebo_plugin └── realsense_gazebo_plugin-melodic-devel

[zma69650]

@nanbwrn
sudo apt-get install ros-noetic-sensor-filters sudo apt-get install ros-noetic-robot-body-filter

[lucasbrodo]

Got the same error. Tried installing the dependencies like @zma69650 mentioned but it's still the same :

Thanks for your help !

[lucasbrodo]

It looks like t265.stl file is missing. It's not inside the realsense2_description because it's EOL. Then the livox error seems to come from the mid360 camera.

[lucasbrodo]

Okay so it looks like doing these commands solve the problem :

sudo apt-get remove ros-noetic-nodelet
sudo apt-get install ros-noetic-nodelet

Delete legged_perceptive packages in /build and /logs folders and rebuild.

sudo apt-get install ros-noetic-sensor-filters
sudo apt-get install ros-noetic-robot-body-filter

and it should work.

[nanbwrn]

Thank you, @zma69650 @lucasbrodo hi,@lucasbrodo I followed your instructions, but after doing so, I still encountered the same error as before. Regarding the issue you mentioned (t265.stl file is missing), how did you resolve it?

[lucasbrodo]

Hi @nanbwrn; Make sure to open a new terminal after doing the instructions, resource devel.bash and rerun the roslaunch commands.

[nanbwrn]

I will continue to give it a try. Thank you for your patient response

[lucasbrodo]

Okay it also seems that uninstalling nodelet does break the elevation_mapping so it's not the way to do it apparently.

[JACKLiuDay]

Got the same error. Tried installing the dependencies like @zma69650 mentioned but it's still the same :

Thanks for your help !

Hi, I have the same problem with you.