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.

Legged.Perceptive.Load.Controller.Launch.mp4

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.