It looks like you're encountering several errors when trying to launch the single_agent_simulation.launch file from the MADER package. Let me break down the issues and suggest solutions:

[ttffucc]

hahaha@hahaha-virtual-machine:~/ws$ roslaunch mader single_agent_simulation.launch
... logging to /home/hahaha/.ros/log/629195d8-3242-11f0-8b0a-91af4cca9d57/roslaunch-hahaha-virtual-machine-54622.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://hahaha-virtual-machine:33987/

SUMMARY

PARAMETERS

• /SQ01s/mader/Ra: 4.0
• /SQ01s/mader/a_max: [20.0, 20.0, 9.6]
• /SQ01s/mader/a_star_bias: 1.0
• /SQ01s/mader/a_star_fraction_voxel_size: 0.5
• /SQ01s/mader/a_star_samp_x: 5
• /SQ01s/mader/a_star_samp_y: 5
• /SQ01s/mader/a_star_samp_z: 5
• /SQ01s/mader/allow_infeasible_guess: True
• /SQ01s/mader/alpha: 0.0
• /SQ01s/mader/alpha_filter_dyaw: 0
• /SQ01s/mader/alpha_shrink: 0.95
• /SQ01s/mader/basis: MINVO
• /SQ01s/mader/beta: 0.0
• /SQ01s/mader/color_type: vel
• /SQ01s/mader/dc: 0.01
• /SQ01s/mader/deg_pol: 3
• /SQ01s/mader/dist_factor_alloc_close: 2.0
• /SQ01s/mader/drone_radius: 0.05
• /SQ01s/mader/epsilon_tol_constraints: 1e-06
• /SQ01s/mader/factor_alloc: 1.0
• /SQ01s/mader/factor_alloc_close: 1.5
• /SQ01s/mader/factor_alpha: 1.5
• /SQ01s/mader/fov_depth: 4.5
• /SQ01s/mader/fov_horiz_deg: 100
• /SQ01s/mader/fov_vert_deg: 100
• /SQ01s/mader/ftol_rel: 1e-10
• /SQ01s/mader/gamma: 0.1
• /SQ01s/mader/goal_radius: 0.15
• /SQ01s/mader/j_max: [30.0, 30.0, 30.0]
• /SQ01s/mader/kappa: 0.4
• /SQ01s/mader/lower_bound_runtime_snlopt: 0.05
• /SQ01s/mader/mu: 0.4
• /SQ01s/mader/n_agents: 16
• /SQ01s/mader/num_pol: 4
• /SQ01s/mader/res_plot_traj: 15.0
• /SQ01s/mader/solver: LD_MMA
• /SQ01s/mader/upper_bound_runtime_snlopt: 0.35
• /SQ01s/mader/use_ff: True
• /SQ01s/mader/v_max: [3.5, 3.5, 3.5]
• /SQ01s/mader/visual: True
• /SQ01s/mader/w_max: 2.5
• /SQ01s/mader/weight: 1000.0
• /SQ01s/mader/x_max: 10000000000.0
• /SQ01s/mader/x_min: -1000000000.0
• /SQ01s/mader/xtol_rel: 1e-13
• /SQ01s/mader/y_max: 1000000000.0
• /SQ01s/mader/y_min: -1000000000.0
• /SQ01s/mader/z_max: 1000000000.0
• /SQ01s/mader/z_min: -1000000000.0
• /SQ01s/perfect_tracker/x: 0
• /SQ01s/perfect_tracker/y: 0
• /SQ01s/perfect_tracker/yaw: 0.0
• /SQ01s/perfect_tracker/z: 1.0
• /SQ01s/rosconsole_overlay_text/nodes: /SQ01s/mader
• /SQ01s/rosconsole_overlay_text/reverse_lines: False
• /rosdistro: noetic
• /rosversion: 1.17.0

NODES
/
behavior_selector (behavior_selector/behavior_selector_node.py)
dynamic_corridor (mader/dynamic_corridor.py)
rviz (rviz/rviz)
/SQ01s/
mader (mader/mader_node)
mader_commands (mader/mader_commands.py)
perfect_tracker (mader/perfect_controller.py)
rosconsole_overlay_text (jsk_rviz_plugins/rosconsole_overlay_text.py)
vicon2world (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [54637]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 629195d8-3242-11f0-8b0a-91af4cca9d57
process[rosout-1]: started with pid [54654]
started core service [/rosout]
process[SQ01s/mader_commands-2]: started with pid [54661]
process[SQ01s/vicon2world-3]: started with pid [54662]
process[SQ01s/perfect_tracker-4]: started with pid [54663]
ERROR: cannot launch node of type [behavior_selector/behavior_selector_node.py]: behavior_selector
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/hahaha/ws/src/mader/src/thirdparty/DecompROS/decomp_ros_msgs
ROS path [2]=/home/hahaha/ws/src/mader/src/thirdparty/DecompROS/DecompUtil
ROS path [3]=/home/hahaha/ws/src/mader/src/thirdparty/DecompROS/decomp_ros_utils
ROS path [4]=/home/hahaha/ws/src/mader/src/thirdparty/DecompROS/decomp_test_node
ROS path [5]=/home/hahaha/ws/src/mader/src/mader_msgs
ROS path [6]=/home/hahaha/ws/src/mader/src/mader
ROS path [7]=/opt/ros/noetic/share
process[rviz-6]: started with pid [54665]
process[dynamic_corridor-7]: started with pid [54669]
ERROR: cannot launch node of type [mader/mader_node]: Cannot locate node of type [mader_node] in package [mader]. Make sure file exists in package path and permission is set to executable (chmod +x)
process[SQ01s/rosconsole_overlay_text-9]: started with pid [54671]
Traceback (most recent call last):
File "/home/hahaha/ws/src/mader/src/mader/scripts/perfect_controller.py", line 14, in
from snapstack_msgs.msg import Goal, State
ModuleNotFoundError: No module named 'snapstack_msgs'
Traceback (most recent call last):
File "/home/hahaha/ws/src/mader/src/mader/scripts/mader_commands.py", line 13, in
from snapstack_msgs.msg import Goal, State
ModuleNotFoundError: No module named 'snapstack_msgs'
Traceback (most recent call last):
File "/home/hahaha/ws/src/mader/src/mader/scripts/dynamic_corridor.py", line 18, in
from snapstack_msgs.msg import Goal, State
ModuleNotFoundError: No module named 'snapstack_msgs'
[SQ01s/perfect_tracker-4] process has died [pid 54663, exit code 1, cmd /home/hahaha/ws/src/mader/src/mader/scripts/perfect_controller.py __name:=perfect_tracker __log:=/home/hahaha/.ros/log/629195d8-3242-11f0-8b0a-91af4cca9d57/SQ01s-perfect_tracker-4.log].
log file: /home/hahaha/.ros/log/629195d8-3242-11f0-8b0a-91af4cca9d57/SQ01s-perfect_tracker-4*.log
[SQ01s/mader_commands-2] process has died [pid 54661, exit code 1, cmd /home/hahaha/ws/src/mader/src/mader/scripts/mader_commands.py __name:=mader_commands __log:=/home/hahaha/.ros/log/629195d8-3242-11f0-8b0a-91af4cca9d57/SQ01s-mader_commands-2.log].
log file: /home/hahaha/.ros/log/629195d8-3242-11f0-8b0a-91af4cca9d57/SQ01s-mader_commands-2*.log
[dynamic_corridor-7] process has died [pid 54669, exit code 1, cmd /home/hahaha/ws/src/mader/src/mader/scripts/dynamic_corridor.py 80 __name:=dynamic_corridor __log:=/home/hahaha/.ros/log/629195d8-3242-11f0-8b0a-91af4cca9d57/dynamic_corridor-7.log].
log file: /home/hahaha/.ros/log/629195d8-3242-11f0-8b0a-91af4cca9d57/dynamic_corridor-7*.log
[ERROR] [1747392118.995757035]: PluginlibFactory: The plugin for class 'decomp_rviz_plugins/PolyhedronArray' failed to load. Error: Could not find library corresponding to plugin decomp_rviz_plugins/PolyhedronArray. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.