roslaunch error

[EinsTian1]

After I run the code "catkin_make ekf_loam -j1", I run the code "source devel/setupbash" and "roslaunch ekf_loam ekf_loam.launch".But it reports errors such as :
ERROR: cannot lanch noed of type [ekf_loam PreTreatment]: cannot locate node of type [PreTreatment] in package [ekf_loam], Make
sure file exists in package path and permission is set to executable (chmod +x).
ERROR: cannot lanch noed of type [ekf_loam LiDAROdometry]: cannot locate node of type [LiDAROdometry] in package [ekf_loam],
Make sure file exists in package path and permission is set to executable (chmod +x).

Then I use "catkin_make".It can run "roslaunch ekf_loam ekf_loam.launch" normally this time，but when I run the "rosbag play xx.bag",it reports errors such as:
Waiting for Transformation
[PreTreatment -5] process has died

Beside,where can I find the groundtruth of 6 datasets you used.

[NancyLuan]

After I run the code "catkin_make ekf_loam -j1", I run the code "source devel/setupbash" and "roslaunch ekf_loam ekf_loam.launch".But it reports errors such as : ERROR: cannot lanch noed of type [ekf_loam PreTreatment]: cannot locate node of type [PreTreatment] in package [ekf_loam], Make sure file exists in package path and permission is set to executable (chmod +x). ERROR: cannot lanch noed of type [ekf_loam LiDAROdometry]: cannot locate node of type [LiDAROdometry] in package [ekf_loam], Make sure file exists in package path and permission is set to executable (chmod +x).

Then I use "catkin_make".It can run "roslaunch ekf_loam ekf_loam.launch" normally this time，but when I run the "rosbag play xx.bag",it reports errors such as: Waiting for Transformation [PreTreatment -5] process has died

Beside,where can I find the groundtruth of 6 datasets you used.

"[PreTreatment -5] process has died" Did this solve the problem? I want to ask for your help