How to get ESDF from TSDF generated here?

[Wshtm]

Hi! I want to generate ESDF file from Gazebo scene. I use the launch file here and get "voxblox_ground_truth_demo.tsdf", and then put it into "tsdf_to_esdf.cc" in voxblox to generate ESDF file. However, when I use voxblox_node/load_map to load this ESDF file, I get "ERROR: service [/voxblox_node/load_map] responded with an error: " Could you please tell me how to solve this problem? Thank you so much!
Following my voxblox_node:
"
node name="voxblox_node" pkg="voxblox_ros" type="esdf_server" output="log" args="" clear_params="true"
remap from="pointcloud" to="/self_filtered_pointcloud"/
remap from="voxblox_node/esdf_map_out" to="esdf_map" /
remap from="/map" to="/sensor_frame" /
param name="publish_esdf_map" value="true" /
param name="publish_pointclouds" value="true" /
param name="use_tf_transforms" value="true" /
param name="update_mesh_every_n_sec" value="1.0" /
param name="clear_sphere_for_planning" value="false" /
rosparam file="$(find perceptive_mpc)/config/voxblox.yaml"/
/node
"
tsdf_voxel_size: 0.05
tsdf_voxels_per_side: 16
world_frame: odom
collision_points: [[],[],[],[],[],[[1.0, 0.2], [0.75, 0.2], [0.5, 0.2], [0.25, 0.2], [0.0, 0.2]],[],[]]