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Hi I am trying to create an octomap from PointCloud2. I load the pointcloud from my ply file convert it into PointCloud2 and publish it on 'cloud_in' topic. The messages are published file. I then launch the octo map node via the launch file which is below

<!-- Octomap Server -->
<node pkg="octomap_server" type="octomap_server_node" name="octomap">
    <param name="resolution" value="0.05" />

    <param name="frame_id" type="string" value="base_link" />

    <param name="max_sensor_range" value="20.0" />

    <param name="latch" value="false" />
    <remap from="cloud_in" to="occupied_cells_vis" />


but unfortunately I cant see anything on Rviz MarkerArray which is listening to occupied_cells_vis. What am I doing wrong here ????

Originally posted by shehrozeb37 on ROS Answers with karma: 1 on 2015-02-14

Post score: 0

Original comments

Comment by chris_ on 2015-02-15:
Is the transform correct? your remap should be from="cloud_in" to=the topic you publish with the messages

Comment by JacoPisa on 2015-02-17:
can i ask you how open the ply file and convert the pointcloud publishing it in pointcloud2??

Comment by knightd23 on 2015-09-03:
I could already create octomap from pointcloud. In your line '' change the occupied_cells_vis to the output topic from your pointcloud. Make sure that your output topic of point cloud has the kind of message poincloud2 and has data in the output.


1 Answer 1


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I have the same problem, but instead of occupied_cells_vis I use my_cloud, which is the topic that provides the pointCloud2. What I doing wrong?

I saw the chris_ comment and I don't know where I can put the transform, however I own the topics publish the transformation (tf and tf_static).

Best Regards

Originally posted by knightd23 with karma: 36 on 2015-07-21

This answer was ACCEPTED on the original site

Post score: 0


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