ethzasl_icp_mapper occupancy_grid_builder [closed]

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Hey,

I'm trying to implement occupancy_grid_builder using a Laser Range Finder, firstly in stage and then in a real-world situation. I'm using Ubuntu 11.10 with ROS Fuerte. I already created a launch file :

<node name="mapper" type="mapper" pkg="ethzasl_icp_mapper" output="screen" >
<remap from="scan" to="base_scan" />
<param name="subscribe_scan" value="true"/>
<param name="subscribe_cloud" value="false"/>
<param name="icpConfig" value="$(find ethzasl_icp_mapper)/launch/artor/icp.yaml" />
<param name="inputFiltersConfig" value="$(find ethzasl_icp_mapper)/launch/artor/input_filters.yaml" />
<param name="mapPostFiltersConfig" value="$(find ethzasl_icp_mapper)/launch/artor/map_post_filters.yaml" />
<param name="odom_frame" value="/odom" />
<param name="map_frame" value="/map" />
<param name="useROSLogger" value="true" />
<param name="minOverlap" value="0.8" /> 
<param name="minReadingPointCount" value="1000" /> 
<param name="minMapPointCount" value="10000" /> 
  </node>

<node name="occupancy_grid_builder" pkg="ethzasl_icp_mapper" type="occupancy_grid_builder" output="screen">
  <remap from="scan" to="base_scan" />
</node>

However, I'm getting the following error:

Error

Note: It's possible to see the results from the first iteration on Rviz.

Please, can someone help me out? If anything else is needed, I will gladly post it later.

Thanks in advance :)