Problem running lcp_proxy in nxt-lejos-pkg

edit

I try use lcp_proxy for bind PC and Lego NXT. I got source:

svn co https://lejos.svn.sourceforge.net/svnroot/lejos lejos

I compiled lcp_proxy normal. I created file lcp_proxy.properties:

NXT-BRICK: NXT
CONNECTION-TYPE: USB_CONNECTION
YAML-ROBOT-DESCRIPTOR: /home/alex/.ros/NXT2.yaml

I created file NXT2.yaml:

nxt_robot:
  - type: ultrasonic
    name: ultrasonic_sensor
    port: PORT_4
    spread_angle: 0.2
    min_range: 0.01
    max_range: 2.5
    desired_frequency: 10.0

I ran node lcp_proxy:

roslaunch lcp_proxy lcp_proxy.launch

and got error:

Loading node class: org.lejos.ros.nodes.LCPProxy
* Configurate ROS Node

*********************
* Running LCPProxy *
*********************

ROS Node Path: /home/alex/.ros/
* Reading property file
Path: /home/alex/.ros/lcp_proxy.properties
BRICK-NAME: NXT
CONNECTION: USB_CONNECTION
YAML: /home/alex/.ros/NXT2.yaml
* Connecting with a NXT brick
Exception in thread "pool-1-thread-7" java.lang.NoClassDefFoundError: lejos/nxt/remote/NXTCommRequest
    at org.lejos.ros.nodes.LCPProxy.connect(Unknown Source)
    at org.lejos.ros.nodes.LCPProxy.onStart(Unknown Source)
    at org.ros.internal.node.DefaultNode$1.run(DefaultNode.java:424)
    at org.ros.internal.node.DefaultNode$1.run(DefaultNode.java:421)
    at org.ros.concurrent.ListenerCollection$1.run(ListenerCollection.java:108)
    at java.util.concurrent.ThreadPoolExecutor$Worker.runTask(ThreadPoolExecutor.java:886)
    at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:908)
    at java.lang.Thread.run(Thread.java:662)
Caused by: java.lang.ClassNotFoundException: lejos.nxt.remote.NXTCommRequest
    at java.net.URLClassLoader$1.run(URLClassLoader.java:202)
    at java.security.AccessController.doPrivileged(Native Method)
    at java.net.URLClassLoader.findClass(URLClassLoader.java:190)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:306)
    at sun.misc.Launcher$AppClassLoader.loadClass(Launcher.java:301)
    at java.lang.ClassLoader.loadClass(ClassLoader.java:247)
    ... 8 more
Mar 14, 2012 7:59:18 PM org.ros.internal.node.topic.DefaultPublisher$1 onMasterRegistrationSuccess
INFO: Publisher registered: Publisher<PublisherDefinition<PublisherIdentifier<NodeSlaveIdentifier</lcp_proxy, http://127.0.0.1:54634>, TopicIdentifier</rosout>>, TopicDefinition<TopicIdentifier</rosout>, MessageDefinition<rosgraph_msgs/Log, acffd30cd6b6de30f120938c17c593fb>>>>