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Hi, I finally managed to get this fixed, thanks a lot @Thadeu Brito and @aaditya_saraiya for your input. The problem turned out to be something to do with my tf static transform publisher.

Running the transform from the shell, i.e. something like...

rosrun tf static_transform_publisher 1.0 0.0 0.0 0.0 0.0 0.0 1.0 world camera_frame 100

appeared to work fine when i checked rosrun tf view_frames. For some reason though, it didn't communicate properly with the octomap generator regardless of the transform parameters, frame parameters or the 'rate' parameter (100 in the above code). Echoing the move_group/monitored_planning_scene node proved that no info was being published.

As a last resort bit of trial and error I had a go at publishing the transform as part of the launch file, more like...

<launch>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 world camera_frame 100" />
</launch>

and this worked just fine. Not sure why this might be as both ways of doing it look identical? Anyway, this ticket is resolved. Thanks again,

Nick