Hi,guys

I create 3D map using OctoMap , but I only can get the last frame not like the link http://ais.informatik.uni-freiburg.de/projects/datasets/octomap/ with kinect and hokuyo, which has annoyed me for a few weeks.

The octomap_mapping.launch is as following:

 <launch>
    <node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
     <param name="resolution" value="0.05">

    <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
    <param name="frame_id" type="string" value="odom_combined" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="sensor_model/max_range" value="5.0" />

    <!-- data source to integrate (PointCloud2) -->
    <remap from="cloud_in" to="/narrow_stereo/points_filtered2" />
   </node>
</launch>

When I use rxgraph , the type of topic /narrowstereo/pointsfiltered2 is unknown and rostopic echo /narrowstereo/pointsfiltered2 has no data output. the topic of pointcloud2 is octomappointcloudcenter and the topic of markerarray is occupiedcellsvisarray.

I don't konw what is wrong. Hope someone can help me solve the problem. Thanks in advance.

cheers,

jwlifly