I am trying to get sbpllatticeplanner to work on groovy. I downloaded and compiled it from https://github.com/ros-planning/navigation_experimental.git and I also downloaded and compiled sbpl from https://github.com/sbpl/sbpl. As sbpl is no longer a ros package I created a simple manifest on it so that the launch files from sbpllatticeplanner can find it with rospack (http://answers.ros.org/question/159046/sbpl_lattice_planner-cant-locate-sbpl-during-execution). I also replaced navview with rviz in the movebasesbplfakelocalization2.5cm.launch launch file, as nav_view is deprecated. Finally I had to replace the word "laser' for 'range' in the world file, because Groovy has Stage 4, which no longer provides the laser device simulation.

After all this fiddling, when I launch roslaunch sbpllatticeplanner movebasesbplfakelocalization2.5cm.launch, stage crashes immediately. Besides rviz doesn't receive any tf information. Rviz says "Waiting on transform from /baselink to /map to become available before running costmap, tf error: ", is this because stage isn't running/crashed?

Running stage with gdb shows following error 307 /tmp/buildd/ros-groovy-stage-1.6.7/debian/ros-groovy-stage/opt/ros/groovy/stacks/stage/src/stageros.cpp: No such file or directory Does anybody know how to solve this?

$ roslaunch sbpl_lattice_planner move_base_sbpl_fake_localization_2.5cm.launch 
... logging to /home/meeso/.ros/log/d59f5598-d212-11e3-a07d-5404a6f18a13/roslaunch-speed-16339.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

WARNING: ignoring defunct <master /> tag
started roslaunch server http://speed:60710/

SUMMARY
========

PARAMETERS
 * /move_base_node/SBPLLatticePlanner/allocated_time
 * /move_base_node/SBPLLatticePlanner/environment_type
 * /move_base_node/SBPLLatticePlanner/forward_search
 * /move_base_node/SBPLLatticePlanner/initial_epsilon
 * /move_base_node/SBPLLatticePlanner/planner_type
 * /move_base_node/SBPLLatticePlanner/primitive_filename
 * /move_base_node/TrajectoryPlannerROS/acc_lim_th
 * /move_base_node/TrajectoryPlannerROS/acc_lim_x
 * /move_base_node/TrajectoryPlannerROS/acc_lim_y
 * /move_base_node/TrajectoryPlannerROS/dwa
 * /move_base_node/TrajectoryPlannerROS/goal_distance_bias
 * /move_base_node/TrajectoryPlannerROS/heading_lookahead
 * /move_base_node/TrajectoryPlannerROS/heading_scoring
 * /move_base_node/TrajectoryPlannerROS/heading_scoring_timestep
 * /move_base_node/TrajectoryPlannerROS/holonomic_robot
 * /move_base_node/TrajectoryPlannerROS/max_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/max_vel_x
 * /move_base_node/TrajectoryPlannerROS/min_in_place_rotational_vel
 * /move_base_node/TrajectoryPlannerROS/min_vel_x
 * /move_base_node/TrajectoryPlannerROS/occdist_scale
 * /move_base_node/TrajectoryPlannerROS/oscillation_reset_dist
 * /move_base_node/TrajectoryPlannerROS/path_distance_bias
 * /move_base_node/TrajectoryPlannerROS/sim_granularity
 * /move_base_node/TrajectoryPlannerROS/sim_time
 * /move_base_node/TrajectoryPlannerROS/simple_attractor
 * /move_base_node/TrajectoryPlannerROS/transform_tolerance
 * /move_base_node/TrajectoryPlannerROS/vtheta_samples
 * /move_base_node/TrajectoryPlannerROS/vx_samples
 * /move_base_node/TrajectoryPlannerROS/xy_goal_tolerance
 * /move_base_node/TrajectoryPlannerROS/yaw_goal_tolerance
 * /move_base_node/base_global_planner
 * /move_base_node/controller_frequency
 * /move_base_node/controller_patience
 * /move_base_node/footprint_padding
 * /move_base_node/global_costmap/base_scan/clearing
 * /move_base_node/global_costmap/base_scan/data_type
 * /move_base_node/global_costmap/base_scan/expected_update_rate
 * /move_base_node/global_costmap/base_scan/marking
 * /move_base_node/global_costmap/base_scan/max_obstacle_height
 * /move_base_node/global_costmap/base_scan/min_obstacle_height
 * /move_base_node/global_costmap/base_scan/observation_persistence
 * /move_base_node/global_costmap/cost_scaling_factor
 * /move_base_node/global_costmap/footprint
 * /move_base_node/global_costmap/footprint_padding
 * /move_base_node/global_costmap/global_frame
 * /move_base_node/global_costmap/inflation_radius
 * /move_base_node/global_costmap/lethal_cost_threshold
 * /move_base_node/global_costmap/map_type
 * /move_base_node/global_costmap/mark_threshold
 * /move_base_node/global_costmap/max_obstacle_height
 * /move_base_node/global_costmap/observation_sources
 * /move_base_node/global_costmap/obstacle_range
 * /move_base_node/global_costmap/origin_z
 * /move_base_node/global_costmap/publish_frequency
 * /move_base_node/global_costmap/raytrace_range
 * /move_base_node/global_costmap/robot_base_frame
 * /move_base_node/global_costmap/rolling_window
 * /move_base_node/global_costmap/static_map
 * /move_base_node/global_costmap/transform_tolerance
 * /move_base_node/global_costmap/unknown_threshold
 * /move_base_node/global_costmap/update_frequency
 * /move_base_node/global_costmap/z_resolution
 * /move_base_node/global_costmap/z_voxels
 * /move_base_node/local_costmap/base_scan/clearing
 * /move_base_node/local_costmap/base_scan/data_type
 * /move_base_node/local_costmap/base_scan/expected_update_rate
 * /move_base_node/local_costmap/base_scan/marking
 * /move_base_node/local_costmap/base_scan/max_obstacle_height
 * /move_base_node/local_costmap/base_scan/min_obstacle_height
 * /move_base_node/local_costmap/base_scan/observation_persistence
 * /move_base_node/local_costmap/cost_scaling_factor
 * /move_base_node/local_costmap/footprint
 * /move_base_node/local_costmap/footprint_padding
 * /move_base_node/local_costmap/global_frame
 * /move_base_node/local_costmap/height
 * /move_base_node/local_costmap/inflation_radius
 * /move_base_node/local_costmap/lethal_cost_threshold
 * /move_base_node/local_costmap/map_type
 * /move_base_node/local_costmap/mark_threshold
 * /move_base_node/local_costmap/max_obstacle_height
 * /move_base_node/local_costmap/observation_sources
 * /move_base_node/local_costmap/obstacle_range
 * /move_base_node/local_costmap/origin_x
 * /move_base_node/local_costmap/origin_y
 * /move_base_node/local_costmap/origin_z
 * /move_base_node/local_costmap/publish_frequency
 * /move_base_node/local_costmap/publish_voxel_map
 * /move_base_node/local_costmap/raytrace_range
 * /move_base_node/local_costmap/resolution
 * /move_base_node/local_costmap/robot_base_frame
 * /move_base_node/local_costmap/rolling_window
 * /move_base_node/local_costmap/static_map
 * /move_base_node/local_costmap/transform_tolerance
 * /move_base_node/local_costmap/unknown_threshold
 * /move_base_node/local_costmap/update_frequency
 * /move_base_node/local_costmap/width
 * /move_base_node/local_costmap/z_resolution
 * /move_base_node/local_costmap/z_voxels
 * /rosdistro
 * /rosversion
 * /stageros/base_watchdog_timeout
 * /use_sim_time

NODES
  /
    fake_localization (fake_localization/fake_localization)
    map_server (map_server/map_server)
    move_base_node (move_base/move_base)
    rviz (rviz/rviz)
    stageros (stage/stageros)
  /local_costmap/
    voxel_grid_throttle (topic_tools/throttle)

auto-starting new master
process[master]: started with pid [16353]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to d59f5598-d212-11e3-a07d-5404a6f18a13
process[rosout-1]: started with pid [16366]
started core service [/rosout]
process[local_costmap/voxel_grid_throttle-2]: started with pid [16380]
process[move_base_node-3]: started with pid [16396]
process[map_server-4]: started with pid [16413]
process[stageros-5]: started with pid [16432]
process[fake_localization-6]: started with pid [16448]
process[rviz-7]: started with pid [16479]
[ INFO] [1399046410.507326998]: Subscribed to Topics: base_scan
[ INFO] [1399046410.515324443]: Requesting the map...

[ INFO] [1399046410.520631634]: Still waiting on map...
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
307 /tmp/buildd/ros-groovy-stage-1.6.7/debian/ros-groovy-stage/opt/ros/groovy/stacks/stage/src/stageros.cpp: No such file or directory.

[stageros-5] process has died [pid 16432, exit code -11, cmd /opt/ros/groovy/stacks/stage/bin/stageros /home/meeso/repos/navigation_experimental/sbpl_lattice_planner/worlds/willow.world __name:=stageros __log:=/home/meeso/.ros/log/d59f5598-d212-11e3-a07d-5404a6f18a13/stageros-5.log].
log file: /home/meeso/.ros/log/d59f5598-d212-11e3-a07d-5404a6f18a13/stageros-5*.log