3D mapping using octomap + Kinect

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hi , everyone i'm new to ros and i try to create a 3d map. Now I have a question about 3D mapping using OctoMap , which has annoyed me for a few weeks. Each time, I build a map with Microsoft XBOX 360 ,I always have the last scene not the global scene like the link http://ais.informatik.uni-freiburg.de... When I run the .launch file , I debug the programs using rostopic list , then use rostopic ehco /octomap_full etc , but no data outputs.

Also what more frustrates me is that topic /narrow_stereo/points_filtered2 remapped from cloud_in does not output data , which I think cloud_in is not output anything data or even octomap_server doesn't work at all . In rviz, when I choose the topic /octomap_point_cloud_centers of PointCloud2, there is no image , but /camera/depth/points or /camera/depth_registered/points does. Maybe the tf transform is not right,either.

I really don't know how to solve the problem. I hope someone can help me solve the problem. Any suggestion is appreciated. Thanks in advance.

The detail of list and launch file is following.

hustrobot@hustrobot-desktop:~$ roswtf
WARNING: Package name "swig-wx" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits and underscores.
No package or stack in context
================================================================================
Static checks summary:

No errors or warnings
================================================================================
Beginning tests of your ROS graph. These may take awhile...
analyzing graph...
... done analyzing graph
running graph rules...
... done running graph rules

Online checks summary:

Found 2 warning(s).
Warnings are things that may be just fine, but are sometimes at fault

WARNING The following node subscriptions are unconnected:
 * /octomap_server:
   * /narrow_stereo/points_filtered2
 * /hector_height_mapping:
   * /syscommand

WARNING The following nodes are unexpectedly connected:
 * /octomap_server->/rviz (/octomap_point_cloud_centers)

hustrobot@hustrobot-desktop:~$ rostopic list 
/camera/depth/camera_info
/camera/depth/disparity
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image/theora
/camera/depth/image/theora/parameter_descriptions
/camera/depth/image/theora/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/image_rect
/camera/depth/image_rect/compressed
/camera/depth/image_rect/compressed/parameter_descriptions
/camera/depth/image_rect/compressed/parameter_updates
/camera/depth/image_rect/compressedDepth
/camera/depth/image_rect/compressedDepth/parameter_descriptions
/camera/depth/image_rect/compressedDepth/parameter_updates
/camera/depth/image_rect/theora
/camera/depth/image_rect/theora/parameter_descriptions
/camera/depth/image_rect/theora/parameter_updates
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/points
/camera/depth/rectify_depth/parameter_descriptions
/camera/depth/rectify_depth/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/disparity
/camera/depth_registered ...