error launching `point_cloud_io` node when trying to run `ground_truth_demo` example

[doctorcolossus]

This is the same issue as #220, which was closed without any detailed solution.

The error I get is almost exactly the same as the one described in the older issue:

ERROR: cannot launch node of type [point_cloud_io/read]: point_cloud_io
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/catkin_ws/src/kindr
ROS path [2]=/catkin_ws/src/kindr_ros/kindr_msgs
ROS path [3]=/catkin_ws/src/kindr_ros/kindr_ros
ROS path [4]=/catkin_ws/src/kindr_ros/kindr_rviz_plugins
ROS path [5]=/catkin_ws/src/message_logger
ROS path [6]=/catkin_ws/src/kindr_ros/multi_dof_joint_trajectory_rviz_plugins
ROS path [7]=/catkin_ws/src/perception_pcl-1.7.4/pcl_conversions
ROS path [8]=/catkin_ws/src/perception_pcl-1.7.4/pcl_ros
ROS path [9]=/catkin_ws/src/elevation_mapping/elevation_mapping
ROS path [10]=/catkin_ws/src/elevation_mapping/elevation_mapping_demos
ROS path [11]=/catkin_ws/src/perception_pcl-1.7.4/perception_pcl
ROS path [12]=/opt/ros/noetic/share

Also as in the older issue, rviz launches but remains blank.

Here's a Dockerfile to reproduce the issue:

FROM ros:noetic-ros-base

ARG DEBIAN_FRONTEND=noninteractive

RUN apt-get update && \
    apt-get install \
      --yes \
      --no-install-recommends \
      git \
      libeigen3-dev \
      python3-catkin-tools \
      qtbase5-dev \
      ros-$ROS_DISTRO-eigen-conversions \
      ros-$ROS_DISTRO-grid-map \
      ros-$ROS_DISTRO-pcl-msgs \
      ros-$ROS_DISTRO-tf-conversions \
      wget && \
    apt-get clean

RUN wget https://github.com/PointCloudLibrary/pcl/archive/refs/tags/pcl-1.12.0.tar.gz && \
    tar xvf pcl-1.12.0.tar.gz && \
    rm pcl-1.12.0.tar.gz && \
    cd pcl-pcl-1.12.0 && \
    mkdir build && \
    cd build && \
    cmake -DCMAKE_BUILD_TYPE=Release .. && \
    make -j2 && \
    make -j2 install && \
    cd ../.. && \
    rm -r pcl-pcl-1.12.0

RUN mkdir -p /catkin_ws/src && \
    cd /catkin_ws/src && \
    git clone https://github.com/anybotics/kindr && \
    git clone https://github.com/anybotics/kindr_ros && \
    git clone https://github.com/anybotics/elevation_mapping && \
    git clone https://github.com/anybotics/message_logger && \
    wget https://github.com/ros-perception/perception_pcl/archive/refs/tags/1.7.4.tar.gz && \
    ls && \
    tar xvf 1.7.4.tar.gz && \
    rm 1.7.4.tar.gz && \
    cd /catkin_ws && \
    . /opt/ros/$ROS_DISTRO/setup.sh && \
    catkin init && \
    catkin build

Then run the container and execute:

source /opt/ros/$ROS_DISTRO/setup.bash
source /catkin_ws/devel/setup.bash
roslaunch elevation_mapping_demos ground_truth_demo.launch

I get the same problem on bare metal on a Jetson running L4T based on Ubuntu 20.04 with ROS Noetic.

I also made another image for melodic, and still get this error.

Been trying to figure this out for a couple of weeks now, any help appreciated.