PoseArray receiving data, not displaying in RViz

edit

I am constructing a PoseArray message with a number of orientations (not from a sensor) and sending it to display on RViz. using rostopic echo /poseArrayTopic, I see that all the messages are being received and has the correct values.

I believe the header is the issue, I have tried the following: poseArray.header.stamp = cloud->header.stamp; poseArray.header.frame_id = "/map";, running the code with/without specifying a fixed frame, setting the stamp to ros::Time::now(), none of which seemed to work.

Anyone got an idea?

Edit: from `rostopic echo /poseArrayTopic:

 - 
    position: 
      x: 6.28499984741
      y: 5.35500001907
      z: 0.495000004768
    orientation: 
      x: -0.0
      y: 0.668825093651
      z: -0.417154147527
      w: 0.615349828393
  - 
    position: 
      x: 6.31500005722
      y: 5.35500001907
      z: 0.495000004768
    orientation: 
      x: -0.0
      y: 0.237173257736
      z: -0.912005751022
      w: 0.334655578046

and etc.

my TF Tree: https://www.dropbox.com/s/4079bf2go1p...

Edit: I decided to attach my full node code here.

ros::Publisher poseArrayPub;
geometry_msgs::PoseArray poseArray; 

void 
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& cloud)
{

  sensor_msgs::PointCloud2 output_normals;
  sensor_msgs::PointCloud2 cloud_normals;
  sensor_msgs::PointCloud2 cloud_filtered;
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2 (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_pass (new pcl::PointCloud<pcl::PointXYZRGBNormal>);
  pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_filtered2 (new pcl::PointCloud<pcl::PointXYZRGBNormal>);   


  pcl::fromROSMsg (*cloud, *cloud2);


  poseArray.poses.clear(); // Clear last block perception result
  poseArray.header.stamp = ros::Time::now();
  poseArray.header.frame_id = "/map";

  ROS_INFO_STREAM("poseArray.header: frame=" << poseArray.header.frame_id);
  // estimate normals
  pcl::NormalEstimation<pcl::PointXYZ, pcl::PointNormal> ne;
  ne.setInputCloud(cloud2);
  ne.setKSearch (24);
  pcl::PointCloud<pcl::PointNormal>::Ptr normals (new pcl::PointCloud<pcl::PointNormal>);
  ne.compute(*normals);

  // The number assignment in the for loop is not correct.... Can't tell why....
  for(size_t i = 0; i<normals->points.size(); ++i)
  {
    normals->points[i].x = cloud2->points[i].x;
    normals->points[i].y = cloud2->points[i].y;
    normals->points[i].z = cloud2->points[i].z;

    geometry_msgs::PoseStamped pose;
    geometry_msgs::Quaternion msg;

    // extracting surface normals
    tf::Vector3 axis_vector(normals->points[i].normal[0], normals->points[i].normal[1], normals->points[i].normal[2]);
    tf::Vector3 up_vector(0.0, 0.0, 1.0);

    tf::Vector3 right_vector = axis_vector.cross(up_vector);
    right_vector.normalized();
    tf::Quaternion q(right_vector, -1.0*acos(axis_vector.dot(up_vector)));
    q.normalize();
    tf::quaternionTFToMsg(q, msg);

    //adding pose to pose array
    pose.pose.position.x = normals->points[i].x;
    pose.pose.position.y = normals->points[i].y;
    pose.pose.position.z = normals->points[i].z;
    pose.pose.orientation = msg;
    poseArray.poses.push_back(pose.pose);
  }

  poseArrayPub.publish(poseArray);
  ROS_INFO("poseArray size: %i", poseArray.poses.size()); //this outputs 92161

}

int main (int argc, char** argv)
{
  // Initialize ROS
  ros::init (argc, argv, "normal_filter");
  ros::NodeHandle nh;

  ros::Rate loop_rate(60);

  // Create a ROS subscriber for the input point cloud
  ros::Subscriber sub = nh.subscribe ("/point_cloud_centers", 1, cloud_cb);
  poseArrayPub = nh.advertise<geometry_msgs::PoseArray>("/normal_vectors", 1);

  // Spin
  ros::spin();
  loop_rate.sleep();
}

Edit: the problem is in the numbers, as when I do a straightforward assignment like this: it runs fine.

  for (int ...