octomap_server doesn't create map

I'm trying to let the octomap_server create a map from my Pointcloud2 messages. The pointcloud gets a transform, the header frame_id is correct and the header and the transform use the same timestamp. But the octomap_server gives no output at all. RViz visualizes the piontclouds correctly. Here is the code for generating the header and publishing the pointcloud/tf/clock. self.pointcloud2_pub = rospy.Publisher('/sonar_pointcloud2', smsgs.PointCloud2, latch=True) self.clock_pub = rospy.Publisher('/clock', rgmsgs.Clock, latch=True) #Create Header msg_header = stdmsgs.Header() msg_header.seq = self.incId self.incId += 1 msg_header.frame_id = "/sonar_pointcloud2" msg_header.stamp = rospy.Time.now() #.... filling the Pointcloud #.... calculating new position and quaternion #Transform Broadcaster br.sendTransform((self.pose.x, self.pose.y, self.pose.z), (quat[0], quat[1], quat[2], quat[3]), msg_header.stamp, "/sonar_pointcloud2", "/map") #Pointcloud2 Publisher self.pointcloud2_pub.publish(msg_pointcloud2) #Clock Publisher self.clock_pub.publish(msg_header.stamp) Here is my launch file for the octomap_server (credits to goetz.mark): rqt_console error: Nothing to publish, octree is empty The node uses Groovy. What am I doing wrong? EDIT: The rqt_console error was due to a naming error in the launch file. I fixed this now, there are new errors now.