[Real World Deployment] Issues adapting gbplanner_ros for a real mobile robot

[AbbeGo]

Description
Hi there,
First of all, thank you for this excellent work.

I am currently trying to deploy gbplanner_ros on a real-world mobile robot (migrating from simulation). I have modified the launch files to adapt to my robot's hardware setup (ZED2i camera, generic odometry).

However, after launching the nodes, gbplanner_node crashes immediately with the error: Could not load all required parameters. Consequently, the planner does not run, and nothing shows up in RViz.

Steps to Reproduce / Setup

1. Hardware: Custom mobile robot with ZED2i Camera.
2. OS: Ubuntu 20.04 (ROS Noetic).
3. Modifications: Created a custom launch file smb_realworld.launch mapping /odom and /zed/point_cloud.

Modified Launch File
Here is the content of my smb_realworld.launch:

<launch>
  <arg name="robot_name" default="smb"/>
  <arg name="use_sim_time" default="Ture"/> <arg name="rviz_en" default="true" />
  <arg name="launch_prefix" default=""/>
  
  <param name="use_sim_time" value="$(arg use_sim_time)"/>

  <arg name="odometry_topic" default="/odom"/> 
  <arg name="cloud_topic" default="/zed/point_cloud"/>

  <arg name="gbplanner_config_file" default="$(find gbplanner)/config/$(arg robot_name)/gbplanner_config.yaml"/>
  <arg name="pci_file" default="$(find gbplanner)/config/$(arg robot_name)/planner_control_interface_sim_config.yaml"/>
  <arg name="voxblox_config_file" default="$(find gbplanner)/config/$(arg robot_name)/voxblox_sim_config.yaml"/>
  <arg name="map_config_file" default="$(arg voxblox_config_file)"/>

  <node pkg="gbplanner" type="gbplanner_node" name="gbplanner_node" output="screen" launch-prefix="$(arg launch_prefix)">
    <remap from="odometry" to="$(arg odometry_topic)" />
    <remap from="/pointcloud" to="/zed/point_cloud" />
    
    <rosparam command="load" file="$(arg gbplanner_config_file)" />
    <rosparam command="load" file="$(arg map_config_file)" />
  </node>

  <node pkg="pci_general" type="pci_general_ros_node" name="pci_general_ros_node" output="screen">
    <remap from="command/trajectory" to="$(arg robot_name)/command/trajectory" />
    <remap from="planner_server" to="gbplanner" />
    <remap from="planner_homing_server" to="gbplanner/homing" />
    <remap from="odometry" to="$(arg odometry_topic)"/>
    <rosparam command="load" file="$(arg pci_file)" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
       args="0.437516 0.085521 1.191086 0.610062 -0.566529 0.389033 -0.394364 base_link zed_optical_frame 100" />

  <group if="$(arg rviz_en)">
    <node pkg="rviz" type="rviz" name="gbplanner_ui" output="screen" args="-d $(find gbplanner)/config/rviz/smb.rviz"/>
  </group>

</launch>

Error Log
When running the launch file, the parameters seem to load initially, but the node shuts down at the end:

# ... (Previous logs omitted) ...
PARAMETERS
 * /gbplanner_node/AdaptiveObbParams/bounding_box_size_max: 35
 * /gbplanner_node/BoundedSpaceParams/Global/type: kCuboid
 * /gbplanner_node/PlanningParams/auto_global_planner_enable: True
 * /gbplanner_node/PlanningParams/global_frame_id: map
 * /gbplanner_node/PlanningParams/robot_height: 1.25
 * /gbplanner_node/SensorParams/ZED2i/tf_frame: zed_optical_frame
 * /gbplanner_node/world_frame: map
 * /use_sim_time: Ture

# ... (Node startup logs) ...
[ INFO] [1764683808.096975061]: OpenGl version: 3.1 (GLSL 1.4).

# CRITICAL ERROR HERE:
[ERROR] [1764683808.600264896]: Could not load all required parameters. Shutdown ROS node.
[gbplanner_node-1] process has finished cleanly

Current Behavior in RViz
Because the node crashes, the planner state does not visualize:
<img width="1920" height="1080" alt="Image" src="https://github.com/user-attachments/assets/b071d8b1-09a6-4481-bf1f-75ad619d9c14" />

Environment

• OS: Ubuntu 20.04
• ROS Version: Noetic

Any advice on how to debug which specific parameter is missing would be greatly appreciated.