how I create the pointcloud topic in moveit in order to do the octomap?

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Hello everybody.

i have been wondering how to really create the pointcloud topic in moveit.

I did This tutorial, but it only explains how to do once you have the topic done.

I tried to create a pointcloud topic using iai_kinect2 (due to the fact that im using a kinect v2. and even if i am able to create a point cloud, if i put the topic in the yaml file, and i run a simulation, any octomap is shown.

I was wondering if i have also a set any specific parameter or something in planningscene.

I have been working on that a few days in I'm feeling I am doing many rounds on the same topic.

Any help would be appreciated. Thank you