How to fix jackal cartographer error?

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I'm trying to run the Jackal Cartographer demo launch file here and keep getting the following error:

[FATAL] [1591351385.505966778]: F0605 11:03:05.000000  6983 lua_parameter_dictionary.cc:83] Check failed: status == 0 (2 vs. 0) [string "-- Copyright 2016 The Cartographer Authors..."]:59: attempt to index global 'POSE_GRAPH' (a nil value)

The following error then occurs:

[cartographer_node-12] process has died [pid 6983, exit code -6, cmd /opt/ros/kinetic/lib/cartographer_ros/cartographer_node -configuration_directory /home/user/catkin_ws/src/jackal_cartographer_navigation/config -configuration_basename jackal.lua scan:=front_lidar_scan odom:=odometry/filtered __name:=cartographer_node __log:=/home/user/.ros/log/bef102e2-a713-11ea-bfb0-50eb712545a4/cartographer_node-12.log].
log file: /home/user/.ros/log/bef102e2-a713-11ea-bfb0-50eb712545a4/cartographer_node-12*.log

Does anyone have anyone have any ideas how to clear this?