Using collision_map in environment_server for arm_navigation

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As what I read it should be possible to put the kinect pointcloud into the collider node, and then put the published costmap into the environment_server of planning_environment.

I see both pointcloud and costmap in rviz, but the validity checker ignores it. Regarding to rosnode, the environment_server isn't listening to a collision_map typed topic at all.

What I configured:

• In my once generated planning_scene_warehouse_viewer_robotname[_real].launch I set use_collision_map to true.
• I had to remove the 4-line-include<include file="$(find > planning_environment)/launch/environment_server.launch"> and run it separately, because else one node keeps crying and nothing works:

[ INFO] [1332518882.807188537, 1332518882.801862955]: Waiting for environment 
server planning scene registration service /register_planning_scene
[ INFO] [1332518882.935278639, 1332518882.932450056]: waitForService: Service 
[/register_planning_scene] has not been advertised, waiting...