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Most of these errors should be startup artifacts, when not all nodes are running yet. The main problem is that rviz seems to crash when trying to load the .vcg config file specified in the launch file. This seems to happen occasionally for no particular reason in electric. You can restart rviz afterwards and try to manually load the indoor SLAM .vcg config file. You can also just start up rviz and add displays that you´re interested in yourself.

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