Failed to load nodelet

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Hi all,

I have been developing a nodelet of my own making reference to kobuki project's safety controller package, however after I have successfully compiled my own package, I get the following error after launching my standalone nodelet manager and load in nodelet. I triple check if I have missed something but couldn't find anything wrong. I need a hand on how to compile a nodelet, HELP !

[ERROR] [1464333474.006836598]: Failed to load nodelet [/beebot_safety_controller] of type       [beebot_safety_controller/SafetyControllerNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class beebot_safety_controller/SafetyControllerNodelet with base class type nodelet::Nodelet does not exist.

I filtered the rest of the irrelevant infos. And here are the essential backbone files of my package: Launch file:

<launch>
  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" />
  <node pkg="nodelet" type="nodelet" name="beebot_safety_controller" 
    args="load beebot_safety_controller/SafetyControllerNodelet nodelet_manager">
  </node>
</launch>

CMakeLists.txt:

cmake_minimum_required(VERSION 2.8.3)
project(range_proximity_safety_controller)

find_package(catkin REQUIRED COMPONENTS
  nodelet
  pluginlib
  geometry_msgs
  roscpp
  rospy
  std_msgs
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES range_proximity_safety_controller_nodelet
  CATKIN_DEPENDS nodelet roscpp rospy std_msgs pluginlib geometry_msgs 
)

include_directories(include
  ${catkin_INCLUDE_DIRS}
)

 add_library(range_proximity_safety_controller_nodelet
   src/safety_controller.cpp
 )
 add_dependencies(range_proximity_safety_controller_nodelet
   ${catkin_EXPORTED_TARGETS}
 )
 target_link_libraries(range_proximity_safety_controller_nodelet
   ${catkin_LIBRARIES}
 )

 install(TARGETS range_proximity_safety_controller_nodelet
   DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )

 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )

  install(DIRECTORY plugins
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

package.xml:

<?xml version="1.0"?>
<package>
  <name>range_proximity_safety_controller</name>
  <version>0.0.0</version>
  <description>The range_proximity_safety_controller package</description>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>nodelet</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>pluginlib</build_depend>
  <build_depend>geometry_msgs</build_depend>  

  <run_depend>nodelet</run_depend>
  <run_depend>roscpp</run_depend>
  <run_depend>rospy</run_depend>
  <run_depend>std_msgs</run_depend>
  <run_depend>pluginlib</run_depend>
  <run_depend>geometry_msgs</run_depend>  

  <export>
    <nodelet pluginlib="${prefix}/plugins/nodelet_plugins.xml" />
  </export>
</package>

plugins/nodelet_plugins.xml:

<library path="lib/libbeebot_safety_controller_nodelet">
  <class name="beebot_safety_controller/SafetyControllerNodelet"
     type="beebot::SafetyControllerNodelet"
     base_class_type="nodelet::Nodelet">
    <description>
      Nodelet for Beebot's safety controller
    </description>  
    </class>
</library>

the header file:

#ifndef _SAFETY_CONTROLLER_H_
#define _SAFETY_CONTROLLER_H_

#include <string>
#include <boost/concept_check.hpp>
#include <boost/graph/graph_concepts.hpp>
#include <ros/ros.h>
#include <std_msgs/Empty.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/LaserScan.h>
#include <stdio.h>

namespace beebot
{
  class SafetyController
  {
  public:
    // some stuff
  private:
    //other stuff
  } ;  // Class definition

} // namespace

#endif

the cpp file:

#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include "range_proximity_safety_controller/safety_controller.h"


namespace beebot{
  class SafetyControllerNodelet : public nodelet::Nodelet
  {
  public:
      // some stuff
  private:
      // other stuff

  } ; // class
} // namespace

PLUGINLIB_EXPORT_CLASS(beebot::SafetyControllerNodelet, nodelet::Nodelet) ;