Hello,

I tried to follow various solutions and examples to launch my octomap in RVIZ. However, for some reason I still get no map recieved. I am aware that by just remapping the "cloud_in" to the rostopic that publishes pointcloud2 should build the map. I am using ZED camera for my system and I tried three setups and in all of them I am not able to generate Octomap.

I have tried:

<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="sensor_model/max_range" value="5.0" />
    <!-- data source to integrate (PointCloud2) -->
    <remap from="cloud_in" to="/zed/depth/image_rect_color" />
</node>

I have also tried:

<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="sensor_model/max_range" value="5.0" />
        <!-- data source to integrate (PointCloud2) -->
        <remap from="cloud_in" to="/zed/point_cloud/cloud" />

</node>

I am not sure where my error is. I am adding the whole launch file of the system to help locate the error.

Currently failed launch file (testing using /scan as the topic for cloud_in):

<launch>

<!--EKF Launch -->
<include file="$(find robot_localization)/launch/EKF_Odom.launch" />

<!--Zed Camera Launch
<include file="$(find zed_wrapper)/launch/zed.launch" />-->

<arg name="svo_file" default=""/>

<group ns="zed">
    <node name="zed_wrapper_node" pkg="zed_wrapper" type="zed_wrapper_node">

      <param name="resolution"            value="1" />
      <param name="quality"               value="1" />
      <param name="sensing_mode"          value="1" />
      <param name="frame_rate"            value="10" />
      <param name="odometry_DB"           value="" />
      <param name="openni_depth_mode"     value="0" />

      <param name="rgb_topic"             value="rgb/image_rect_color" />
      <param name="rgb_cam_info_topic"    value="rgb/camera_info" />
      <param name="rgb_frame_id"          value="/base_frame" />

      <param name="left_topic"            value="left/image_rect_color" />
      <param name="left_cam_info_topic"   value="left/camera_info" />
      <param name="left_frame_id"         value="/base_frame" />

      <param name="right_topic"           value="right/image_rect_color" />
      <param name="right_cam_info_topic"  value="right/camera_info" />
      <param name="right_frame_id"        value="/base_frame" />

      <param name="depth_topic"           value="depth/image_rect_color" />
      <param name="depth_cam_info_topic"  value="depth/camera_info" />
      <param name="depth_frame_id"        value="/base_frame" />

      <param name="point_cloud_topic"     value="point_cloud/cloud" />
      <param name="cloud_frame_id"        value="/base_frame" />

      <param name="odometry_topic"                value="/odom" />
      <param name="odometry_frame_id"             value="/zed_initial_frame" />
      <param name="odometry_transform_frame_id"   value="/base_frame" />


</node>
-->
<!-- Depth_image to Laser_Scan -->
<node pkg="depthimage_to_laserscan" type="depthimage_to_laserscan" name="depthimage_to_laserscan">
        <param name="scan_height" value="100"/>
        <param name="output_frame_id" value="/base_frame"/>
        <param name="range_min" value="0.3"/>
        <param name="range_max" value="60"/>
        <remap from="image" to="/zed/depth/image_rect_color"/>
    <remap from="scan" to ="/scan"/>

 </node>

</group>

<!-- Laser Scan Match -->
<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" name="laser_scan_matcher_node" output="screen">

    <param name="fixed_frame" value = "world"/>
    <param name="base_frame" value="wheelchair_base"/>
    <param name="use_alpha_beta" value="false"/>
    <param name="use_odom" value="true"/>
    <param name="use_imu" value="false"/>
    <param name="max_iterations" value="10"/>
    <param name="publish_pose" value="true"/>
    <param name="publish_tf" value="false"/>
    <param name="use_vel" value="false"/>

 </node>

<!-- Gmapping -->

 <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
    <param name="map_udpate_interval" value="2.0"/>
    <param name="delta" value="0.02"/>
    <param name="base_frame" value="base_frame"/>
 </node> 

<!--Octomap-->

<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="sensor_model/max_range" value="5.0" />
        <!-- data source to integrate (PointCloud2) -->
        <remap from="cloud_in" to="/scan" />

</node>

<!--RVIZ launch -->
<node pkg="rviz" type="rviz" name="rviz" />

</launch>

The rostopic list is:

/rosout
/rosout_a
/clicked_point
/cmd_vel
/diagnostics
/free_cells_vis_array
/imu/data
/imu/temperature
/initialpose
/map
/map_metadata
/map_updates
/move_base_simple/goal
/occupied_cells_vis_array
/octomap_binary
/octomap_full
/octomap_point_cloud_centers
/octomap_server/parameter_descriptions
/octomap_server/parameter_updates
/odom
/odometry/filtered
/point_cloud/cloud
/pose2D
/projected_map
/roboteq/current
/roboteq/energy
/roboteq/voltage
/rosout
/rosout_agg
/scan
/set_pose
/slam_cloud
/slam_gmapping/entropy
/tf
/tf_static
/trajectory
/zed/depth/camera_info
/zed/depth/image_rect_color
/zed/depth/image_rect_color/compressed
/zed/depth/image_rect_color/compressed/parameter_descriptions
/zed/depth/image_rect_color/compressed/parameter_updates
/zed/depth/image_rect_color/compressedDepth
/zed/depth/image_rect_color/compressedDepth/parameter_descriptions
/zed/depth/image_rect_color/compressedDepth/parameter_updates
/zed/depth/image_rect_color/theora
/zed/depth/image_rect_color/theora/parameter_descriptions
/zed/depth/image_rect_color/theora/parameter_updates
/zed/depthimage_to_laserscan/parameter_descriptions
/zed/depthimage_to_laserscan/parameter_updates
/zed/left/camera_info
/zed/left/camera_info_raw
/zed/left/image_raw_color
/zed/left/image_raw_color/compressed
/zed/left/image_raw_color/compressed/parameter_descriptions
/zed/left/image_raw_color/compressed/parameter_updates
/zed/left/image_raw_color/compressedDepth
/zed/left/image_raw_color/compressedDepth/parameter_descriptions
/zed/left/image_raw_color/compressedDepth/parameter_updates
/zed/left/image_raw_color/theora
/zed/left/image_raw_color/theora/parameter_descriptions
/zed/left/image_raw_color/theora/parameter_updates
/zed/left/image_rect_color
/zed/left/image_rect_color/compressed
/zed/left/image_rect_color/compressed/parameter_descriptions
/zed/left/image_rect_color/compressed/parameter_updates
/zed/left/image_rect_color/compressedDepth
/zed/left/image_rect_color/compressedDepth/parameter_descriptions
/zed/left/image_rect_color/compressedDepth/parameter_updates
/zed/left/image_rect_color/theora
/zed/left/image_rect_color/theora/parameter_descriptions
/zed/left/image_rect_color/theora/parameter_updates
/zed/odom
/zed/point_cloud/cloud
/zed/rgb/camera_info
/zed/rgb/camera_info_raw
/zed/rgb/image_raw_color
/zed/rgb/image_raw_color/compressed
/zed/rgb/image_raw_color/compressed/parameter_descriptions
/zed/rgb/image_raw_color/compressed/parameter_updates
/zed/rgb/image_raw_color/compressedDepth
/zed/rgb/image_raw_color/compressedDepth/parameter_descriptions
/zed/rgb/image_raw_color/compressedDepth/parameter_updates
/zed/rgb/image_raw_color/theora
/zed/rgb/image_raw_color/theora/parameter_descriptions
/zed/rgb/image_raw_color/theora/parameter_updates
/zed/rgb/image_rect_color
/zed/rgb/image_rect_color/compressed
/zed/rgb/image_rect_color/compressed/parameter_descriptions
/zed/rgb/image_rect_color/compressed/parameter_updates
/zed/rgb/image_rect_color/compressedDepth
/zed/rgb/image_rect_color/compressedDepth/parameter_descriptions
/zed/rgb/image_rect_color/compressedDepth/parameter_updates
/zed/rgb/image_rect_color/theora
/zed/rgb/image_rect_color/theora/parameter_descriptions
/zed/rgb/image_rect_color/theora/parameter_updates
/zed/right/camera_info
/zed/right/camera_info_raw
/zed/right/image_raw_color
/zed/right/image_raw_color/compressed
/zed/right/image_raw_color/compressed/parameter_descriptions
/zed/right/image_raw_color/compressed/parameter_updates
/zed/right/image_raw_color/compressedDepth
/zed/right/image_raw_color/compressedDepth/parameter_descriptions
/zed/right/image_raw_color/compressedDepth/parameter_updates
/zed/right/image_raw_color/theora
/zed/right/image_raw_color/theora/parameter_descriptions
/zed/right/image_raw_color/theora/parameter_updates
/zed/right/image_rect_color
/zed/right/image_rect_color/compressed
/zed/right/image_rect_color/compressed/parameter_descriptions
/zed/right/image_rect_color/compressed/parameter_updates
/zed/right/image_rect_color/compressedDepth
/zed/right/image_rect_color/compressedDepth/parameter_descriptions
/zed/right/image_rect_color/compressedDepth/parameter_updates
/zed/right/image_rect_color/theora
/zed/right/image_rect_color/theora/parameter_descriptions
/zed/right/image_rect_color/theora/parameter_updates
/zed/scan
/zed/zed_wrapper_node/parameter_descriptions
/zed/zed_wrapper_node/parameter_updates

It would be helpful if someone can help me point out which topic it should be remap to. I have also published my rqtgraph. In that I notice that `octomapserveris going straight torosoutinstead ofrviz`. I am for some reason unable to attach it.

Thank you so much for the help

Regards, Hdbot