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Hi Guido, the launch file you're talking about is not available in the pr2_arm_navigation_perception package, maybe it was removed in some revision. Luckily, I was able to find the launch file on the Internet and running it solves the error I get. However, I get a new error now:

[ INFO] [1325676522.708759545]: waitForService: Service [/find_cluster_bounding_box] has not been advertised, waiting...

Do you know what I should run or launch next? Thanks for your help!