Quadrotor cannot be moving and planning its way correctly, automap cannot be launched.

edit

We have add PointCloud2 and set the Topic as /rtabmap/cloud_map in our RVIZ. And our Fixed Frame of Global Options is setting as odom, while the Reference Frame of Grid is setting as Fixed Frame. But our quadrotor cannot planning its way correctly and it will just pass through the buildings which we build out by using the Asus Xtion Pro Live through RTAB-Map. Besides, the automap also cannot be launched.

Below there is our rtabmap.launch:

<launch>
  <!-- Convenience launch file to launch odometry, rtabmap and rtabmapviz nodes at once -->

  <!-- For rgbd:=true
        Your RGB-D sensor should be already started with "depth_registration:=true".
        Examples:
           $ roslaunch freenect_launch freenect.launch depth_registration:=true 
           $ roslaunch openni2_launch openni2.launch depth_registration:=true -->

  <!-- For stereo:=true
        Your camera should be calibrated and publishing rectified left and right 
        images + corresponding camera_info msgs. You can use stereo_image_proc for image rectification.
        Example:
           $ roslaunch rtabmap_ros bumblebee.launch -->

  <!-- Choose between RGB-D and stereo -->      
  <arg name="rgbd"            default="true"/>
  <arg name="stereo"          default="false"/>

  <!-- Choose visualization -->
  <arg name="rtabmapviz"              default="true" /> 
  <arg name="rviz"                    default="false" />

  <!-- Corresponding config files -->
  <arg name="cfg"                     default="" /> <!-- To change RTAB-Map's parameters, set the path of config file (*.ini) generated by the standalone app -->
  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
  <arg name="rviz_cfg"                default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />

  <arg name="frame_id"                default="base_link"/>     <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
  <arg name="namespace"               default="rtabmap"/>
  <arg name="database_path"           default="~/.ros/rtabmap.db"/>
  <arg name="queue_size"              default="10"/>
  <arg name="wait_for_transform"      default="0.2"/>
  <arg name="rtabmap_args"            default=""/>              <!-- delete_db_on_start, udebug -->
  <arg name="launch_prefix"           default=""/>              <!-- for debugging purpose, it fills launch-prefix tag of the nodes -->

  <!-- RGB-D related topics -->
  <arg name="rgb_topic"               default="/camera/rgb/image_rect_color" />
  <arg name="depth_topic"             default="/camera/depth_registered/image_raw" />
  <arg name="camera_info_topic"       default="/camera/rgb/camera_info" />

  <!-- stereo related topics -->
  <arg name="stereo_namespace"        default="/stereo_camera"/>
  <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
  <arg name="right_image_topic"       default="$(arg stereo_namespace)/right/image_rect" />      <!-- using grayscale image for efficiency -->
  <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
  <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
  <arg name="approx_sync"             default="false"/>         <!-- if timestamps of the stereo images are not synchronized -->

  <arg name="compressed"              default="false"/>         <!-- If you want to subscribe to compressed image topics -->
                                                                <!-- For depth_topic, "compressedDepth" image_transport is used. --> 
                                                                <!-- For rgb_topic, see "rgb_image_transport" argument. -->
  <arg name="rgb_image_transport"     default="compressed"/>    <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->

  <arg name="subscribe_scan"          default="false"/>
  <arg name="scan_topic"              default="/scan"/>

  <arg name="subscribe_scan_cloud"    default="false"/>
  <arg name="scan_cloud_topic"        default="/scan_cloud"/>

  <arg name="visual_odometry"         default="true"/>          <!-- Launch rtabmap visual odometry node -->
  <arg name="odom_topic"              default="/odom_combined"/>         <!-- Odometry topic used if visual_odometry is false -->
  <arg name="odom_args"               default="$(arg rtabmap_args)"/>

  <!-- These arguments should not be modified directly, see referred topics without "_relay" suffix above -->
  <arg if="$(arg compressed)"     name="rgb_topic_relay"           default="$(arg rgb_topic)_relay"/>
  <arg unless="$(arg compressed)" name="rgb_topic_relay"           default="$(arg rgb_topic)"/>
  <arg if="$(arg compressed)"     name="depth_topic_relay"         default="$(arg depth_topic)_relay"/>
  <arg unless="$(arg compressed)" name="depth_topic_relay"         default="$(arg depth_topic)"/>
  <arg if ...