bostoncleek / ergodic_exploration Goto Github PK

I am very interested in your ergodic exploration especially using mutual information. I am able to successfully run the launch file in hte main branch. However, when I switch to the mi branch I am getting the following errors:

process[map_server-1]: started with pid [11512]
ERROR: cannot launch node of type [ergodic_exploration/exploration]: Cannot locate node of type [exploration] in package [ergodic_exploration]. Make sure file exists
in package path and permission is set to executable (chmod +x)
process[occupancy_grid_mi-3]: started with pid [11513]
[ERROR] [1665176036.438935400]: Tried to advertise on topic [/occupancy_grid_mi] with md5sum [3381f2d731d4076ec5c71b0759edbe4e] and datatype [nav_msgs/OccupancyGrid],
but the topic is already advertised as md5sum [ca1a248f35f716e2b1c209d2a82e5ce3] and datatype [range_mi/MIGrid]
[ERROR] [1665176036.442042604]: Tried to advertise on topic [/occupancy_grid_mi] with md5sum [3381f2d731d4076ec5c71b0759edbe4e] and datatype [nav_msgs/OccupancyGrid],
but the topic is already advertised as md5sum [ca1a248f35f716e2b1c209d2a82e5ce3] and datatype [range_mi/MIGrid]
[ERROR] [1665176036.454820622]: md5sum mismatch making local subscription to topic /occupancy_grid_mi.
[ERROR] [1665176036.454907401]: Subscriber expects type nav_msgs/OccupancyGrid, md5sum 3381f2d731d4076ec5c71b0759edbe4e
[ERROR] [1665176036.454934757]: Publisher provides type range_mi/MIGrid, md5sum ca1a248f35f716e2b1c209d2a82e5ce3
[ WARN] [1665176036.454963554]: couldn't register subscriber on topic [/occupancy_grid_mi]
[ERROR] [1665176036.476619335]: md5sum mismatch making local subscription to topic /occupancy_grid_mi.
[ERROR] [1665176036.476728480]: Subscriber expects type geometry_msgs/PointStamped, md5sum c63aecb41bfdfd6b7e1fac37c7cbe7bf
[ERROR] [1665176036.476758680]: Publisher provides type range_mi/MIGrid, md5sum ca1a248f35f716e2b1c209d2a82e5ce3
[ WARN] [1665176036.476783988]: couldn't register subscriber on topic [/occupancy_grid_mi]

I was hoping you had a few pointers to get this running; thanks in advance.