octomap_server, velodyne_driver, and rviz

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Hi There, it sounds like the frame that the octomap is being broadcast in doesn't have a published transformation into the velodyne frame.

You can use the command :

rosrun tf view_frames

to create a pdf file that will show you all the coordinate frames and the transformation that are being published between them.

You can find the frameId of the 'occupied_cells_vis' topic using this comman :

rostopic echo occupied_cells_vis

This will probably spit a huge amount of data onto the console, but if you cancel it and scroll up through sooner or later you will find a header section that will include the frameId. When you've found this frameId you can then set the 'Fixed Frame' option under 'Global Options' in Rviz to this frameId then you should be able to visualise this topic.

Alternatively you can change the frame that octomap is publishing it's maps in or create a static transform publisher to link the velodyne and octomap frames together.

Hope this helps.