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I figured out that qbot1/camera/depth/points topic is successfully published through freenect.launch launcher, but the octomap_server is subscribing to /camera/depth/points topic. The OctomapServer.cpp source code looks for the absolute namespace and it does not read the qbot1 prefix. In the version that I am using, the code line 177 of OctomapServer.cpp is like this.

m_pointCloudSub = new message_filters::Subscriber<sensor_msgs::pointcloud2> (m_nh, "/camera/depth/points", 5);

Because of the "/" in front of the subscribed topic, it always looks for a topic that starts as /camera/depth/points.

I figured out that qbot1/camera/depth/points topic is successfully published through freenect.launch launcher, but the octomap_server is subscribing to /camera/depth/points topic. The OctomapServer.cpp OctomapServer.cpp source code looks for the absolute namespace and it does not read the qbot1 prefix. In the version that I am using, the code line 177 of OctomapServer.cpp OctomapServer.cpp is like this.

m_pointCloudSub = new message_filters::Subscriber<sensor_msgs::pointcloud2> message_filters::Subscriber<sensor_msgs::PointCloud2> (m_nh, "/camera/depth/points", 5);
5);

I figured out that qbot1/camera/depth/points topic is successfully published through freenect.launch launcher, but the octomap_server is subscribing to /camera/depth/points topic. The OctomapServer.cpp source code looks for the absolute namespace and it does not read the qbot1 prefix. In According to the version remapping that I am using, the code line 177 of OctomapServer.cpp is changed like this.

m_pointCloudSub = new message_filters::Subscriber<sensor_msgs::PointCloud2> (m_nh, "/camera/depth/points", 5);

Because of the / in front of the subscribed topic, it always looks for a topic that starts as /camera/depth/points.

I figured out that qbot1/camera/depth/points topic is successfully published through freenect.launch launcher, but the octomap_server is subscribing to /camera/depth/points topic. The OctomapServer.cpp source code looks for the absolute namespace and it does not read the qbot1 prefix. According to the remapping that I am using, the code line 177 of OctomapServer.cpp is changed like this.

m_pointCloudSub = new message_filters::Subscriber<sensor_msgs::PointCloud2> (m_nh, "/camera/depth/points", 5);

Because of the / in front of the subscribed topic, it always looks for a topic that starts as /camera/depth/points.

 m_pointCloudSub = new message_filters::Subscriber<sensor_msgs::PointCloud2> (m_nh, "camera/depth/points", 5);