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Do you actually need the built-in ground plane filter? For mere map building there's usually no need and you can set the parameter ~filter_ground to false. By default (in the latest version of octomap_server), it should be false.

Otherwise you usually need to adjust the PCL plane detection parameters to your sensor, it is currently tuned to the PR2's stereo camera by default. Best have a look at the code, not all parameters are explained on the wiki site in detail.

Do you actually need the built-in ground plane filter? For mere map building there's usually no need and you can set the parameter ~filter_ground to false. By default (in the latest version of octomap_server), it should be false.

Otherwise you usually need to adjust the PCL plane detection parameters to your sensor, it is currently tuned to the PR2's stereo camera by default. Best have a look at the code, not all parameters are explained on the wiki site in detail.


Edit: There was also a problem with pointcloud transformations in the released version 0.3.7 for electric, that was fixed in octomap_mapping trunk but not yet released (see this question. A maintenance release 0.3.8 for electric will be pushed out soon, otherwise you could use octomap_mapping from SVN.