[ros-users] collision_map problems

Hi all

I am trying to run boxturtle's collision_map_test.launch
(collision_environment/collision_map/) and getting type errors and hanging,

[ INFO] 5.397000000: Maintaining occlusion map in frame 'base_link', with
origin at (1.100000, 0.000000, 0.000000) and dimension (1.000000, 1.500000,
2.000000), resolution of 0.020000; sensor is in frame '', fixed fame is
'base_link'.
[ WARN] 5.407000000: Self see links need to be an array
[ WARN] 5.425000000: No robot links will be checked for self mask
[ WARN] 5.444000000: No links specified for self filtering.

(nothing happens afterwards...)

There's something simple going wrong, but I can't figure out how to pass an
array as a parameter in xml for launch file to fix it? Newbie xml user I
guess, but I also can't find it through searching. This test file isn't
correct and the other launch file (collision_map.launch) has a broken link?

ERROR: cannot launch node of type [collision_map/collision_map_buffer_node]:
Cannot locate node of type [collision_map_buffer_node] in package
[collision_map]

despite it exisiting in the same folder.
I'm not sure how I haven't seen this while using the move_arm tutorials...

Any Ideas/similar experiences?

Ben