Problem with running cartographer_ros for the first time

[Kening Ren]

Hello,

How are you? 

I am a beginner in using Google Cartographer. Today when I run cartographer_ros in my VirtualBox Ubuntun, I see the following errors. I appreciate that you could point out the cause of the problems.

Problem #1, It is a warning. ceres-solver's name does not follow the naming rule. It appears to me this is not a real problem.

Problem #2, Cannot launch cartographer_ros/cartographer_node. Cannot locate this node. I followed the instruction, download, build and install cartographer_ros. I do not know why this node is missing.

Problem #3, Something is wrong with rviz. Submaps is not loaded properly.

I am using VirtualBox, which is runing Ubuntu. MY virtualbox has 2GB memory. It is suggested to have 16GB memory. Does this cause the problem?

Thank you very much.

--Kening

Below is the logs:

kening@kening-VirtualBox:~/catkin_ws$ roslaunch cartographer_ros demo_backpack_2d.launch bag_filename:=${HOME}/Downloads/cartographer_paper_deutsches_museum.bag

WARNING: Package name "ceres-solver" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.

... logging to /home/kening/.ros/log/f2cded68-f1a5-11e6-add5-080027cba8c2/roslaunch-kening-VirtualBox-20829.log

Checking log directory for disk usage. This may take awhile.

Press Ctrl-C to interrupt

Done checking log file disk usage. Usage is <1GB.

WARNING: Package name "ceres-solver" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.

WARNING: Package name "ceres-solver" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.

WARNING: Package name "ceres-solver" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.

WARNING: Package name "ceres-solver" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.

started roslaunch server http://kening-VirtualBox:43933/

SUMMARY

========

PARAMETERS

 * /robot_description: <...>

 * /rosdistro: kinetic

 * /rosversion: 1.12.6

 * /use_sim_time: True

NODES

  /

    cartographer_node (cartographer_ros/cartographer_node)

    playbag (rosbag/play)

    robot_state_publisher (robot_state_publisher/robot_state_publisher)

    rviz (rviz/rviz)

auto-starting new master

process[master]: started with pid [20840]

ROS_MASTER_URI=http://localhost:11311

setting /run_id to f2cded68-f1a5-11e6-add5-080027cba8c2

WARNING: Package name "ceres-solver" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.

process[rosout-1]: started with pid [20853]

started core service [/rosout]

process[robot_state_publisher-2]: started with pid [20857]

ERROR: cannot launch node of type [cartographer_ros/cartographer_node]: can't locate node [cartographer_node] in package [cartographer_ros]

process[rviz-4]: started with pid [20878]

process[playbag-5]: started with pid [20888]

[ERROR] [1486960577.196271204]: PluginlibFactory: The plugin for class 'Submaps' failed to load.  Error: Could not find library corresponding to plugin Submaps. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.

[Holger Rapp]

#1 is not a issue, you can ignore that

#2 and #3 are likely the same problem: you did not source install/setup.bash in your catkin workspace, so ROS cannot find the cartographer node and the rviz ​plugin.

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Thank you very much. 
It is working now with your suggestion.

-- Kening