Launch files: How to call rosaria and transforms

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Hi all,

I created a launch file to perform autonomous navigation with the robot. The launch file's contents can be seen below:

###launching rviz###
  <node name="rviz" pkg="rviz" type="rviz" />

###start laser###
  <node pkg="sicktoolbox_wrapper" type="sicklms" name="sicklms" output="screen">
  <param name="port" value="/dev/ttyS1"/>
  <param name="inverted" value="true"/>
  </node>

###get map###
  <node pkg="map_server" type="map_server" name="map_server" args="/home/powerbot67/FacultyGNDFloorMapDan.yaml"/>

###RosAria###
  <node pkg="rosaria" type="RosAria" name="RosAria" output="screen" args="/home/powerbot67/catkin_ws/src" >
  <param name="port" value="/dev/ttyS0"/>
  <param name="DriftFactor" value="-20"/>
  <param name="TicksMM" value="115"/>
  </node>

</launch>

To launch rosaria and transforms, I usually run the following commands succesfully in 2 separate terminals:

cd ~/catkin_ws
source ./devel/setup.bash
rosrun rosaria RosAria _port:=/dev/ttyS0 _DriftFactor:=-20 _TicksMM:=115

cd ~/transform_ws
source ./devel/setup.bash
rosrun transform transform

However, when I try to run rosaria using the launch file mentioned, I get the following error:

ERROR: cannot launch node of type [rosaria/RosAria]: rosaria ROS path [0]=/opt/ros/hydro/share/ros ROS path [1]=/home/powerbot67/ros/eband_local_planner ROS path [2]=/home/powerbot67/ros/sbpl_lattice_planner ROS path [3]=/home/powerbot67/hydro/sandbox ROS path [4]=/opt/ros ROS path [5]=/opt/ros/hydro/share ROS path [6]=/opt/ros/hydro/stacks

Any ideas as to why this is happening? How should I call transforms in this launch file? I would appreciate any help.

Thanks.