Hi,

I am trying to create an octomap using a Intel RealSense D415 camera but was not having much success and was wondering if it was even possible?

I have used the github website below and followed the instructions from the following youtube tutorial: https://www.youtube.com/watch?v=dF2mlKJqkUg https://github.com/OctoMap/octomap_mapping

I did not receive any errors but after I enter the command: "roslaunch octomapserver octomapmapping.launch" and open RViz I cannot change the fixed frame to "odom".

I am new to ROS so I apologise if this is not very clear.

Thanks in advance