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Thanks for the answer,

I tried your suggestions with the following results:

• Neither occupied_cells_vis_array nor octomap_point_cloud_centers display anything in rviz.
• When visualizing /rgbdslam/batch_clouds (which is remapped to /cloud_in, see below), I see a colored pointcloud of the Kinect data.

I'm launching octomap via the pre-packaged launchfile rgbdslam_octomap.launch (included in the rgbdslam sources):

<!-- Launch octomap_server for mappingL: Listens to incoming PointCloud2 data 
    and incrementally build an octomap. The data is sent out in different representations. -->
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" output="screen">
      <param name="resolution" value="0.005" />
      <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
      <param name="frame_id" type="string" value="map" />
      <!-- maximum range to integrate (speedup, accuracy) -->
      <param name="max_sensor_range" value="6.0" />
      <!-- Save octomap here on destruction of the server -->
      <param name="save_directory" value="$(optenv OCTOMAP_SAVE_DIR ./)" />
      <!-- data source to integrate (PointCloud2) -->
      <remap from="cloud_in" to="/rgbdslam/batch_clouds" />
</node>

As you can see, /rgbdslam/batch_clouds is remapped to cloud_in in the last line.

What am I supposed to see when visualizing cloud_in? Was that colored point cloud the thing that is to be expected and if so, is there any other explanation as to why octomap doesn't produce any output?

Thanks again!

Thanks for the answer,

I tried your suggestions with the following results:

• Neither occupied_cells_vis_array nor octomap_point_cloud_centers display anything in rviz.
• When visualizing /rgbdslam/batch_clouds (which is remapped to /cloud_in, see below), I see a colored pointcloud of the Kinect data.

I'm launching octomap via the pre-packaged launchfile rgbdslam_octomap.launch (included in the rgbdslam sources):

<!-- Launch octomap_server for mappingL: Listens to incoming PointCloud2 data 
    and incrementally build an octomap. The data is sent out in different representations. -->
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" output="screen">
      <param name="resolution" value="0.005" />
      <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
      <param name="frame_id" type="string" value="map" />
      <!-- maximum range to integrate (speedup, accuracy) -->
      <param name="max_sensor_range" value="6.0" />
      <!-- Save octomap here on destruction of the server -->
      <param name="save_directory" value="$(optenv OCTOMAP_SAVE_DIR ./)" />
      <!-- data source to integrate (PointCloud2) -->
      <remap from="cloud_in" to="/rgbdslam/batch_clouds" />
</node>

As you can see, /rgbdslam/batch_clouds is remapped to cloud_in in the last line.

What am I supposed to see when visualizing cloud_in? Was that colored point cloud the thing that is to be expected and if so, is there any other explanation as to why octomap doesn't produce any output?

Thanks again!

EDIT: I simply tried launching rgbdslam and octomap_server separately, and it worked. Octomap_server also didn't need my entire RAM this time. So it must be a problem with that launchfile. Thanks for the help!

Thanks for the answer,

I tried your suggestions with the following results:

• Neither occupied_cells_vis_array nor octomap_point_cloud_centers display anything in rviz.
• When visualizing /rgbdslam/batch_clouds (which is remapped to /cloud_in, see below), I see a colored pointcloud of the Kinect data.

I'm launching octomap via the pre-packaged launchfile rgbdslam_octomap.launch (included in the rgbdslam sources):

<!-- Launch octomap_server for mappingL: Listens to incoming PointCloud2 data 
    and incrementally build an octomap. The data is sent out in different representations. -->
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" output="screen">
      <param name="resolution" value="0.005" />
      <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
      <param name="frame_id" type="string" value="map" />
      <!-- maximum range to integrate (speedup, accuracy) -->
      <param name="max_sensor_range" value="6.0" />
      <!-- Save octomap here on destruction of the server -->
      <param name="save_directory" value="$(optenv OCTOMAP_SAVE_DIR ./)" />
      <!-- data source to integrate (PointCloud2) -->
      <remap from="cloud_in" to="/rgbdslam/batch_clouds" />
</node>

As you can see, /rgbdslam/batch_clouds is remapped to cloud_in in the last line.

What am I supposed to see when visualizing cloud_in? Was that colored point cloud the thing that is to be expected and if so, is there any other explanation as to why octomap doesn't produce any output?

Thanks again!