I have a Realsense R200 which I want to connect to an Octomap server.

The R200 components run in their own nodelet manager as a nodelets.

I can connect the pointcloud to the cloudin topic of a regular octomapserver node. I launch it using octomap_mapping.launch with the server placed in the same namespace as the R200. The mapping line is <remap from="cloud_in" to="depth/points" /> This works well.

I want to run the octomap server as a nodelet in the same manager to avoid copying and transmitting the point cloud. When I edit the sample launch file octomap_mapping_nodelet.launch nothing I can do to the remap line will allow me to connect to the point cloud. Running roswtf always claims that the cloud_in topic of the nodelet manager is unconnected.

Does anyone have an example of how they have successfully connected an octomap_server nodelet to a point cloud generating nodelet in the same nodelet manager?

For information, the final nodes are:

/octosense/octosense_nodelet_manager

/octosense/octomap_server_nodelet

/octosense/depth_points

The topics:

/octosense/cloud_in

/octosense/depth/points