robotics@tears$ rosrun wavefront wavefront terminate called after throwing an instance of 'ros::InvalidNameException' what(): Using ~ names with NodeHandle methods is not allowed. If you want to use private names with the NodeHandle interface, construct a NodeHandle using a private name as its namespace. e.g. ros::NodeHandle nh("~"); nh.getParam("my_private_name"); (name = [~dist_eps]) /home/robotics/ros/ros/bin/rosrun: line 35: 15562 Aborted $exepath "$@"Granted, I don't know what the right way to use wavefront since the documentation is a bit spotty.