Launch only Octomap and transform

[ezgi-angsa]

Hello,

I would like to employ implementation for my course project. In out project, the map is constructed sparse but I want to convert it to how you resulting map is. I have a whole SLAM pipeline which is derived from ORBSLAM, as yours. So, I do want to run your SLAM pipeline as a whole but only map construction part. However, I cannot find entry and exit points of topics that are published and subscribed. I only want to use Octomap and transform.launch files ( I think they are enough for me). I also imported pointcloudmapping.h and .cpp for pointcloud mapping. Could you explain where the info coming out and goes into Octomap.launch topics and the same for transform.launch.

I guess I manage to integrate my pipeline and the things that are needed from this repo.
However, on RVIZ I do not see anything. I can see images that are published /camera/depth/image and /kitti/left/image_raw but I cannot see any other results from any topics. I know /ORB_SLAM2_PointMap_SegNetM/Point_Clouds is published.

Could you image what is the problem? What topic I need to add on RVIZ to see octomap?

Thanks in advance.

[ezgi-angsa]

Hello, could you answer?