RGB_D camera + octomap_server + rtabmap

Posted by ahmadkh1995 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-camera-octomap-server-rtabmap-tp7537.html



Hello
I want to implement below block diagram with a recorded rosbag , but when I want to visualize octomap(produced by octomap_server) nothing visualizes in Rviz and it's output doesn't publish.
This is my octomap_server launch file;

<node pkg="octomap_server" type="octomap_color_server_node" name="octomap_server">
 <remap from="cloud_in" to="/camera/depth/points" />   
</node>

and also my "frame_id" is "map" which given by rtabmap.

would you please help me where is my mistake ? I understand that some users use;
 <remap from="cloud_in" to="/rtabmap/cloud_map" />

but I want to use pointcloud2 directly from my RGB-D sensor.