# RGBDSLAM Sending Model, Octomap_server and Occupied_cells_vis_array Issue

Hello everyone! I'm using RGBDSLAM v2 to create an Octomap which one i'd like to navigate through Rviz (using the turtlebot).

The problem is that i can't visualize the octomap in rviz because of the occupied_cells_vis_array topic, it looks like no data from this topic is received.

My steps are:

Run the RGBDSLAM, and with the pointclouds map created, send the model through batch_clouds to octomap_server, and when i subscribe the occupied_cell_vis_array in Rviz nothing is shown in Rviz.

I've checked if the RGBDSLAM is sending the frames using "rostopic echo /rgbdslam/batch_clouds" and everything is ok!

My "store_point_clouds" parameter is set to false.

I was wondering which fixed_frame should i use in Rviz, base_footprint, base_link, base_frame or map, to visualize the octomap when i "send de model" from RGBDSLAM.

I've tried to save the octomap using octomap_server octomap_saver filename.bt and i'm getting this error:

Requesting the map from /octomap_binary... octomap_saver: /opt/ros/hydro/include/octomap_msgs/conversions.h:78: octomap::OcTree* octomap_msgs::binaryMsgToMap(const Octomap&): Assertion `msg.data.size() > 0' failed. Aborted (core dumped)

I need to navigate my turtlebot using the octomap, and i don't know other way to do this. I've checked this package but i'm using the turtlebot and even though this package is related to something i'm trying to do, i guess it won't help me now.

Is it possible to save the octomap in a .bag file and open it with Rviz later?

Thanks for the attention!

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