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Nothing to publish, octree is empty

asked 2015-11-12 12:10:50 -0500

Lolita390 gravatar image


I do not understand why I get the following message when launching octomap: "Nothing to publish, octree is empty". I have remapped "cloud_in" topic to the according pointcloud topic and the fixed frame in the launch file corresponds to the fixed frame in rviz. I have checked my launch file for typos, but the input topic and frame_id are written correctly. I ran "rostopic echo points2" (points2 is my remapped input pointcloud topic) and I verified that the pointcloud is indeed being published to this topic. What could the problem be?


<node pkg="octomap_server" type="octomap_server_node" name="octomap_server" output="screen" >
    <param name="resolution" value="0.05" />

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

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

    <!-- data source to integrate (PointCloud2) -->
    <remap from="cloud_in" to="points2" />



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Hello, I have the same problem. Did you solve this ?

Shanika gravatar image Shanika  ( 2020-06-18 04:45:00 -0500 )edit

I am getting the same warning message and also I am unable to visualise the octomap in rviz. I am unable to figure this out. Did anyone solve this issue? Please help.

San123 gravatar image San123  ( 2020-11-01 01:31:36 -0500 )edit

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answered 2022-03-18 09:51:52 -0500

ARL gravatar image

The issue is with the frame ID in " ". The value needs to be the correct frame id as set in the point cloud message header. For example with my VLD-16 lidar the frame_id is velodyne

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Asked: 2015-11-12 12:10:50 -0500

Seen: 2,997 times

Last updated: Nov 12 '15