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Thank for the help! I actually was publishing a collision map. I found that the /register_planning_scene service wasn't being published, I seems to take a while for the collision map publisher "collision_map_occ" to be connected to it seems. I let it run for about 20 sec or so and it finally was able to detect the /register_planning_scene.
I use Octomap Server like so in my launcher,
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
<!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
<param name="frame_id" type="string" value="/world" />
<!-- maximum range to integrate (speedup!) -->
<param name="max_sensor_range" value="5.0" />
<param name="latch" value="false" />
<!-- data source to integrate (PointCloud2) -->
<remap from="cloud_in" to="/r2/neck/head/range_camera0/depth_registered/points" />
<remap from="collision_map_out" to="collision_map_occ" />
</node>
maybe it takes a few minutes to start up the publishers in the Octomap Server.