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The error message mentions "target=/world", is that a global frame in your TF tree? Your params say that the frame should be called "/map". Have a look at your tree with rqt_tf_tree or view_frames.

A problem will be that you set pointcloud_min_z = pointcloud_max_z = 100 in the params. This will filter all your incoming point clouds to points that are only exactly at z=100. I guess min should be 0, or even below?

The error message mentions "target=/world", is that a global frame in your TF tree? Your params say that the frame should be called "/map". Have a look at your tree with rqt_tf_tree or view_frames.

A problem will be that you set pointcloud_min_z = pointcloud_max_z = 100 in the params. This will filter all your incoming point clouds to points that are only exactly at z=100. I guess min should be 0, or even below?below? This explains the error "Nothing to publish, octree is empty". octomap_server received a pointcloud, but it contained nothing that could be integrated into the octree.