PANIC external/com_nvidia_isaac_engine/engine/alice/application.cpp@162: No node with name 'sentinel'

Hello I am trying to add a C++ codelet that uses the YDlidar component and lidar_slam:cartographer component. I am having a quite a bit of difficulty and ran into the error mentioned in the subject line. I am not sure what I am doing wrong, at the current stage I’d just like to pass flatscans from the Ydlidar to the cartographer component. I’ll attach my code below, I appreciate any help I can get. Thanks in advance!

json file

{
  "name": "sentinel",
  "modules": [
    "sight",
    "ydlidar",
    "lidar_slam:cartographer"
  ],
  "graph": {
    "nodes": [
      {
        "name": "sentinelLidar",
        "type": "SentinelLidar",
        "components": [
          {
            "name": "message_ledger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "driver",
            "type": "isaac::ydlidar::YdLidar"
          }
        ]
      },
      {
        "name":"sentinelMap",
        "type":"SentinelMap",
        "components":[
          {
            "name": "message_ledger",
            "type": "isaac::alice::MessageLedger"
          },
          {
            "name": "Cartographer",
            "type": "isaac::lidar_slam::Cartographer"
          }
        ]
      }
    ],
    "edges": [
      {
        "source": "sentinel/sentinelLidar/driver",
        "target": "sentinel/sentinelMap/Cartographer"
      }
    ],
    "config": {
      "ydlidar": {
        "driver": {
          "device": "/dev/ttyUSB0"
        }
      },
      "websight": {
        "WebsightServer": {
          "ui_config": {
            "windows": {
              "YDLidar: Samples Per Tick": {
                "renderer": "plot",
                "dims": {
                  "width": 1024,
                  "height": 200
                },
                "channels": [
                  { "name" : "sentinel/sentinelLidar/driver/samples_count" },
                  { "name" : "sentinel/sentinelLidar/driver/arc_measured" }
                ]
              }
            }
          }
        }
      },
      "sentinelMap":
      {
        "Cartopragher":{
          "lua_configuration_directory": "../com_github_googlecartographer_cartographer/configuration_files/,external/com_github_googlecartographer_cartographer/configuration_files/",
          "output_path": "../tmp",
        "num_visible_submaps": 100,
        "tick_period": "250ms"
        }

      }
    }
  }
}

load("@com_nvidia_isaac_sdk//bzl:module.bzl", "isaac_app", "isaac_cc_module")

isaac_app(
    name = "sentinel",
    modules = [
      "sight",
      "ydlidar",
      "lidar_slam:cartographer",
    ],
)

Build file:

isaac_cc_module(
  name = "sentinel_components",
  srcs = [
    "SentinelLidar.cpp",
    "SentinelMap.cpp"
  ],
  hdrs = [
    "SentinelLidar.hpp",
    "SentinelMap.hpp"
  ],
)

hpp

class SentinelMap:public isaac::alice::Codelet{
    public:
    void start() override;
    void tick() override;
    void stop() override;
};
ISAAC_ALICE_REGISTER_CODELET(SentinelMap);

cpp file

#include "SentinelMap.hpp"

void SentinelMap::start(){}
void SentinelMap::tick(){}
void SentinelMap::stop(){}

There are references to “sentinel/sentinelLidar/driver/samples_count” but you should not include the app name in the edge configuration (i.e., this should be “sentinalLidar/driver/samples_count”). Isaac SDK is reading “sentinal” as the name of the node.