Problem with feeding PointCloud2 messages from SwissRanger 4000 to Octomap Server

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I am trying to get the PointCloud2 messages published by swissranger_camera node and feed it to octomap_server which subscribes to "cloud_in" (PointCloud2). I am available to visualize the point cloud in RViz. However, when I run the octomap_server node, it is constantly giving me the PCL error:

[pcl::SampleConsensusModelPlane::optimizeModelCoefficients] Not enough inliers found to support a model (0)! Returning the same coefficients.

Here is the launch file for octomap_server I am using:

<launch>
<node pkg="octomap_server" type="octomap_server_node" name="octomap_server">
    <param name="resolution" value="0.05" />

    <!-- fixed map frame (set to 'map' if SLAM or localization running!) -->
    <param name="frame_id" type="string" value="map" />

    <!-- maximum range to integrate (speedup!) -->
    <param name="max_sensor_range" value="5.0" />

    <!-- data source to integrate (PointCloud2) -->
    <remap from="cloud_in" to="/swissranger/pointcloud2_raw" />

</node>

</launch>

The octomap_server also gives two warnings:

1. No plane found in cloud.
2. No ground plane found in scan.

The PCL error and the warnings seems to happen when octomap_server is doing ground plane filtering. Does it imply that the PointCloud2 output by the swissranger_camera is not good/clean enough and I have to do some processing with it before I feed it to octomap_server?

Thanks.