MoveIt perception - Failed to configure updater of type PointCloudUpdater

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I'm attempting to load an existing pointcloud into moveit but it keeps throwing an error. Specifically, it says "Failed to configure updater of type PointCloudUpdater" Here's the console output immediately before the error:

Starting context monitors...
ros.moveit_ros_planning.planning_scene_monitor: Starting scene monitor
ros.moveit_ros_planning.planning_scene_monitor: Listening to '/planning_scene'
ros.moveit_ros_planning.planning_scene_monitor: Starting world geometry monitor
ros.moveit_ros_planning.planning_scene_monitor: Listening to '/collision_object' using message notifier with target frame '/base_link '
ros.moveit_ros_planning.planning_scene_monitor: Listening to '/planning_scene_world' for planning scene world geometry
ros.moveit_ros_perception: Failed to configure updater of type PointCloudUpdater

Here's my sensors.yaml file:

 sensors:
  - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
    image_topic: /cloud_pcd
    max_range: 5.0
    point_subsample: 1
    padding_offset: 0.1
    padding_scale: 1.0
    filtered_cloud_topic: filtered_cloud

I load my pointcloud using the following console command:

rosrun pcl_ros pcd_to_pointcloud /home/Documents/out_pcd/processed_clouds/Scanner-2_rosbag.bag.pcd

Which publishes the pointcloud2 to the topic /cloud_pcd

Here's my sensor_manager.launch.xml:

<launch>
  <param name="octomap_frame" type="string" value="odom_combined" /> 
  <param name="octomap_resolution" type="double" value="0.025" />
  <param name="max_range" type="double" value="5.0" />

  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
  <arg name="moveit_sensor_manager" default="vehicle_model" />
  <include file="$(find vehicle_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />

</launch>

And finally, here's vehicle_model_moveit_sensor_manager.launch.xml:

<launch>
    <rosparam command="load" file="$(find vehicle_moveit)/config/sensors.yaml" />
</launch>

Any advice at this stage would be appreciated. I can't seem to find any record of others having this error.