# Octree is empty ! [ I'm so close! Help me!]

I'm trying to make octomap simulation using Kinect plugin in Noetic. I made a dummy link and joint to transform the axis so that the Z axis faces forward for the Kinect sensor using this code segment:

<joint name="camera_rgb_joint" type="fixed">
<origin xyz="0 0 0" rpy="1.57079 3.14159 1.57079"/>
</joint>


which gives the following results

According to this, I just need to rotate it 90 degrees about the now Z axis, which I did using the following code segment:

<joint name="camera_rgb_joint" type="fixed">
<origin xyz="0 0 0" rpy="1.57079 4.7123 1.57079"/>
</joint>