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Seems to me you placed a space in map (nav_msgs/OccupancyGrid) which is not valid.

Remove that space in ~/.rviz/display_config or ~/.rviz/config and start rviz.

Previously:

  • http://ros-users.122217.n3.nabble.com/RVIZ-Graph-Resource-Name-Problem-td1678927.html
  • http://answers.ros.org/question/11321/caught-exception-while-loading-character-/