ray casting in humanoid_localization

edit

I have the humanoid_localization node running with an octomap, a Hokuyo and a Kinect. I am able to see PoseArrays, the Pose, my tf transforms etc. When I move the Kinect, I see that the Pose vector changes accordingly. The orientation isn't right (issue 1) but I keep on getting the error:

ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!ERROR: Raycasting in direction (0,0,0) is not possible!

As per this post answers.ros.org ... (more)