Dear all,

What I am doing is receiving depth and rgb images and converting them into pointcloud which will be used by moveit to generate actomap. I have successfully used freenect to build octomap in moveit. Everything worked fine.

Since I need to receive images from another camera, I wrote code to receive images and publish on certain topics to let depthimageproc to subscribe and do the process. I have finished all the things about generating pointcloud and it did have pointcloud published on the certain topic. But when I ran move_group and rviz, there were one warning and error. Warning is

Failed to call service /get_planning_scene, have you launched move_group?.

Error is

Unable to connect to move_group action server within allotted time.

But I did run movegroup node since I can see movegroup node was subscribing the topic that published pointcloud. Does it relate with tf? Since before I ran static transform publisher for my world and camera frames, rviz won't crash because of failure to call service.

Thanks for any help in advance.