rgbdslam runs without issues, but octomap does not connect/receive pointcloud (transforms?)

edit

I installed rgbdslam and octomap. Have been trying to run rgbdslam with octomap. Eventual goal is to get the MarkerArray /occupied_cells_vis_array as it should. Some things I've done:

METHOD 1

1. Tried to run kinect+rgbdslam.launch and octomap_server.launch.
2. Open rviz and nothing is received on the /octomap_point_cloud_array, /occupied_cells_vis_array, /rgbdslam/aggregate_clouds OR/rgbdslam/batch_clouds. The only PointCloud2 topics that displays an output are /camera/depth_registered/points.

METHOD 2

1. Tried to run rgbdslam_octomap.launch. Worked as well, but due to the color_octomap_server_node not found under octomap_server package (I believe there are some posts saying that you need the experimental version of octomap and some posts saying that the octomap_server is by default colored) I edited it so that it reads octomap_server_node.
2. Runs as well, also gives the same problem as above.

METHOD 3

While invoking the above scenario, I ran the following commands:

Runningroswtf gives that node subscription is unconnected: */rgbdslam: */cloud_in

Running rosrun tf view_frames gives camera_link > /camera_rgb_frame > /camera_rgb_optical_frame and camera_link > /camera_depth_frame > /camera_depth_optical_frame. Two branches only.

Runningrostopic_list The expect topics are listed: /cloud_in /octomap_point_cloud_array /occupied_cells_vis_array /rgbdslam/batch_clouds /rgbdslam/aggregate_clouds /tf

Running rosservice call /rgbdslam/ros_ui send_all did not change the above results.

I think it is a mapping issue and that the point clouds are not transformed to the correct topics. I am not sure which point cloud problem it is. Please give some pointers as how I can solve this problem.

EDIT 05/28/14 +1h: The issue lies in the transform. /map is not present in my frames.pdf view. Not sure how to solve this problem either.

EDIT 06/04/14: Solved building octomap using rgbdslam data by recording a .bag file, launching octomap_server, and viewing it in RViz. No fix for continuous rgbdslam mapping and trajectory output found yet.

rgbdslam_octomap.launch

<launch>
  <env name="ROSCONSOLE_CONFIG_FILE" value="$(find rgbdslam)/log.conf"/>

  <!--might only work with the experimental octomap (as of May 11)-->
    <include file="$(find openni_launch)/launch/openni.launch"/>
    <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="false" output="log" > 
      <param name="config/topic_image_mono"              value="/camera/rgb/image_color"/>
      <param name="config/topic_points"                  value="/camera/rgb/points"/> <!--if empty, poincloud will be reconstructed from image and depth -->
      <param name="config/wide_topic"                    value=""/>;
      <param name="config/wide_cloud_topic"              value=""/>;
      <param name="config/drop_async_frames"             value="true"/> <!-- Check association of depth and visual image, reject if not in sync -->
      <param name="config/feature_detector_type"         value="SIFTGPU"/><!-- If SIFTGPU is enabled in CMakeLists.txt, use SURF here -->
      <param name="config/feature_extractor_type"        value="SIFTGPU"/><!-- If SIFTGPU is enabled in CMakeLists.txt, use SURF here -->
      <param name="config/matcher_type"                  value="FLANN"/> <!-- FLANN (not avail for ORB features), SIFTGPU (only for SIFTGPU detector)  or BRUTEFORCE-->
      <param name="config/max_keypoints"                 value="700"/><!-- Extract no more than this many keypoints (not honored by SIFTGPU)-->
      <param name="config/min_keypoints"                 value="300"/><!-- Extract no less than this many ... -->
      <param name="config/nn_distance_ratio"             value="0.6"/> <!-- Feature correspondence is valid if distance to nearest neighbour is smaller than this parameter times the distance to the 2nd neighbour ...