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You can subscribe to /rtabmap/cloud_map topic to get the point cloud.

$ rosrun pcl_ros pointcloud_to_pcd input:=rtabmap/cloud_map
$ pcl_viewer ###.pcd

If the mapping is paused, you can force rtabmap to publish the map again:

$ rosrun pcl_ros pointcloud_to_pcd input:=rtabmap/cloud_map
$ rosservice call /rtabmap/publish_map 1 1 0
$ pcl_viewer ###.pcd

For the get_map service error, I can't reproduce the problem with RVIZ (the clouds are correctly downloaded and shown). If you call it from terminal, you would see a lot of numbers printed. Note that I tested with rtabmap_ros 0.10.4 (binaries on Indigo have just been released).

You can subscribe to /rtabmap/cloud_map /rtabmap/cloud_map topic to get the point cloud.

$ rosrun pcl_ros pointcloud_to_pcd input:=rtabmap/cloud_map
$ pcl_viewer ###.pcd

If the mapping is paused, you can force rtabmap to publish the map again:

$ rosrun pcl_ros pointcloud_to_pcd input:=rtabmap/cloud_map
$ rosservice call /rtabmap/publish_map 1 1 0
$ pcl_viewer ###.pcd

For the get_map service error, I can't reproduce the problem with RVIZ (the clouds are correctly downloaded and shown). If you call it from terminal, you would see a lot of numbers printed. Note that I tested with rtabmap_ros 0.10.4 (binaries on Indigo have just been released).

$ pcl_pcd2ply ###.pcd output.ply

You can subscribe to /rtabmap/cloud_map topic to get the point cloud.

$ rosrun pcl_ros pointcloud_to_pcd input:=rtabmap/cloud_map
$ pcl_viewer ###.pcd

If the mapping is paused, you can force rtabmap to publish the map again:

$ rosrun pcl_ros pointcloud_to_pcd input:=rtabmap/cloud_map
$ rosservice call /rtabmap/publish_map 1 1 0
$ pcl_viewer ###.pcd

For the get_map service error, I can't reproduce the problem with RVIZ (the clouds are correctly downloaded and shown). If you call it from terminal, you would see a lot of numbers printed. Note that I tested with rtabmap_ros 0.10.4 (binaries on Indigo have just been released).

EDIT

To have the point cloud in PLY format (to open it in MeshLab or any other 3D program), programs), you can use pcd2ply tool from PCL:

$ pcl_pcd2ply ###.pcd output.ply