Nothing to publish, octree is empty

[agchatzik]

I am a publishing a PointCloud (Type: sensor_msgs/PointCloud2) in topic pc_pub. I have remapped "cloud_in" topic to the according pointcloud topic and the fixed frame in the launch file corresponds to the fixed frame in rviz (map) . Running ran "rostopic echo pc_pub" verifies that the pointcloud is indeed being published to this topic and octomap_server is Subscribing into the topic too. However, "Nothing to publish, octree is empty" appears. What could the problem be?

[borcherd]

@kaponloto Did you ever solve it?

[wxmerkt]

Is the map frame being published?

[FeiyangJin]

You may need to specify frame_id and base_frame_id to the same as you used in Rviz. In my case, I did it like:

[tomkimsour]

How did you fix it ?

[leonardlohky]

Also facing this same issue under similar circumstances. Has anyone been able to find a solution?

[sherlockholmes1603]

Sir we are getting the same error and also there is warn status by visualizing "/occupied_cells_vis_array" topic in rviz and also "/free_cells_vis_array" topic is empty while visualizing the topic in rviz

Please help me guide me what to do

[tejalbarnwal]

Hey, you need to ensure that there is a transformation from the frame_id that you had specified in the octomap_mapping.launch and the frame_id that is present inside the header part of the sensor data.

[ShuiYunXi]

I also get the same error and how to set the transformation frame_id ?by the way my enviroment is foxy and ubuntu20.04.

my error info:

[INFO] [launch]: Default logging verbosity is set to INFO [INFO] [octomap_server_node-1]: process started with pid [11004] [octomap_server_node-1] [INFO] [1651821775.666505026] [octomap_server]: Publishing latched (single publish will take longer, all topics are prepared) [octomap_server_node-1] [WARN] [1651821775.689450702] [octomap_server]: Nothing to publish, octree is empty [octomap_server_node-1] [WARN] [1651821775.689514529] [octomap_server]: Could not open file

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[JMadhup]

@ShuiYunXi open the octomap_mapping.launch file in the octomap_server package and there you will see the frame_id parameter. You can then set its value to whatever frame_id is in your sensor message header.

[pathakarvindk]

@ShuiYunXi Did you get any solution. My environment is also foxy and ubuntu20.04. I have point cloud, need to consider that as a collision object in the form of octomap.

Any help is appreciated.

[HuaYuXiao]

If your map is relatively big, just wait for a while and see what happens.