I'm attempting to load an existing pointcloud into moveit but it keeps throwing an error. Specifically, it says "Failed to configure updater of type PointCloudUpdater"
Here's the console output immediately before the error:
Starting context monitors...
ros.moveit_ros_planning.planning_scene_monitor: Starting scene monitor
ros.moveit_ros_planning.planning_scene_monitor: Listening to '/planning_scene'
ros.moveit_ros_planning.planning_scene_monitor: Starting world geometry monitor
ros.moveit_ros_planning.planning_scene_monitor: Listening to '/collision_object' using message notifier with target frame '/base_link '
ros.moveit_ros_planning.planning_scene_monitor: Listening to '/planning_scene_world' for planning scene world geometry
ros.moveit_ros_perception: Failed to configure updater of type PointCloudUpdater
Here's my sensors.yaml file:
sensors:
- sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
image_topic: /cloud_pcd
max_range: 5.0
point_subsample: 1
padding_offset: 0.1
padding_scale: 1.0
filtered_cloud_topic: filtered_cloud
I load my pointcloud using the following console command:
rosrun pcl_ros pcd_to_pointcloud /home/Documents/out_pcd/processed_clouds/Scanner-2_rosbag.bag.pcd
Which publishes the pointcloud2 to the topic /cloud_pcd
Here's my sensor_manager.launch.xml:
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