Moveit Octomap Not Allowing Command Planning or Execution

Hi all, I've been trying to hook up Moveit so that my robot can avoid obstacles using openni_tracker and openni_launch. I've added octomap capabilities to my demo.launch file as: My process for getting point cloud data to appear and for the robot to avoid obstacles encountered in the point cloud is: ~$ roslaunch openni_launch openni.launch ~$ rosrun openni_tracker openni_tracker Unfortunately at this point the point cloud data does not appear until I issue the manual brute-force command: ~$ rosrun tf static_transform_publisher 0 0 0 0 0 0 /world /camera_link 100 This causes point cloud data to appear and update at the appropriate rate, but I can't execute or plan commands until I have killed the process where I create a transform link, but then the point cloud doesn't update as I would have hoped. Can anyone let me know if I'm making any incorrect assumptions or doing anything here that won't work and could be causing this issue? I can supply any other files that might be necessary to diagnose the issue as well, just let me know!