PointCloud2 exists, but NO Octomap in /move_group/monitored_planning_scene!!!!

edit

I'm using ubuntu 16.04 on a Huawei Matebook-x, with kernel 4.15.0-91-generic. ROS distro: kinetic and version 1.12.14. Gazebo 7.

My issue is exactly the same as this one from 5 years ago, but that question is never answered.

I added 3D perception to MoveIt following Perception Pipeline Tutorial.

Content of niryo_one_moveit_config/config/sensors_3d.yaml :

sensors:
  - filtered_cloud_topic: filtered_cloud
    max_range: 5.0
    max_update_rate: 1.0
    padding_offset: 0.1
    padding_scale: 1.0
    point_cloud_topic: /camera/depth/points
    point_subsample: 1
    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater

Content of niryo_one_moveit_config/launch/sensor_manager.launch.xml:

<launch>

  <!-- This file makes it easy to include the settings for sensor managers -->

  <!-- Params for 3D sensors config -->
  <rosparam command="load" file="$(find niryo_one_moveit_config)/config/sensors_3d.yaml" />

  <!-- Params for the octomap monitor -->
  <!-- <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
  <param name="octomap_resolution" type="double" value="0.025" />
  <param name="max_range" type="double" value="5.0" />

  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
  <arg name="moveit_sensor_manager" default="niryo_one" />
  <include file="$(find niryo_one_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />

</launch>

It works for me, as shown in the following figure (I used RealSense plugin to simulate the camera).

And in /move_group/monitored_planning_scene, I had actual content in octomap:

name: "(noname)+"
robot_state: 
  joint_state: 
    header: 
      seq: 0
      stamp: 
        secs: 428
        nsecs: 194000000
      frame_id: "/world"
    name: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6, gripper_joint, left_clamp_joint,
  left_rod_joint, right_gear_joint, right_clamp_joint, right_rod_joint]
    position: [0.0002741740361669187, -0.005544641035825748, -0.0047824728172924935, -0.004096483894079128, -0.009302052764738278, -0.0036276511038133563, 2.7370436193052683e-06, -4.863704734958674e-06, 3.8067452639012345e-06, 3.5276141945317363e-06, -4.115511588409504e-06, -4.813747795928691e-06]
    velocity: []
    effort: []
  multi_dof_joint_state: 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/world"
    joint_names: []
    transforms: []
    twist: []
    wrench: []
  attached_collision_objects: []
  is_diff: False
robot_model_name: "niryo_one"
fixed_frame_transforms: 
  - 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/world"
    child_frame_id: "/world"
    transform: 
      translation: 
        x: 0.0
        y: 0.0
        z: 0.0
      rotation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
allowed_collision_matrix: 
  entry_names: []
  entry_values: []
  default_entry_names: []
  default_entry_values: []
link_padding: []
link_scale: []
object_colors: []
world: 
  collision_objects: []
  octomap: 
    header: 
      seq: 0
      stamp: 
        secs: 0
        nsecs:         0
      frame_id: "/world"
    origin: 
      position: 
        x: 0.0
        y: 0.0
        z: 0.0
      orientation: 
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
    octomap: 
      header: 
        seq: 0
        stamp: 
          secs: 0
          nsecs:         0
        frame_id: ''
      binary: False
      id: "OcTree"
      resolution: 0.025
      data: [-70, -76, 96, 64, -86, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, 64, -70, -76, 96, 64, -32, 117, 0, 0, -64, -128, 117, 0, 0, -64, 64, 117, 0, 0, -64, 64, 117, 0, 0, -64, -64, 117, 0, 0, -64, -128, 117, 0, 0, -64, -32, ...]
      is_diff: True

However, when tested on hardware, the octomap is not shown. The only difference is the point cloud topic. On hardware, the topic name is ... (more)