Moveit perception error

Hello ROS Community! I am struggling with the configuration of the `moveit` perception capabilities. I have a robotic arm in `Gazebo` equipped with an `libgazebo_ros_openni_kinect.so`-based rgbd camera. I want to do collision avoided path planning from point A to point B based on the simulated point cloud data. As it is given in the tutorial: 1) In the `config` folder i defined the following `sensors_kinect_pointcloud.yaml`: sensors: - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater point_cloud_topic: /rgbd_camera/depth_registered/points max_range: 5.0 point_subsample: 1 padding_offset: 0.1 padding_scale: 1.0 max_update_rate: 1.0 filtered_cloud_topic: filtered_cloud 2) I edited my `robot_5s_moveit_sensor_manager.launch.xml` file as: 3) My `sensor_manager.launch.xml` file looks as: **I have no idea why**, but if i load the aforementioned `sensors_kinect_pointcloud.yaml` then suddenly nothing works. I get the `Fail: ABORTED: No motion plan found. No execution attempted.` error message for those poses that are reachable. These poses can be reached successfully without any problem **if the** `sensors_kinect_pointcloud.yaml` **is not loaded**. `/rgbd_camera/depth_registered/points` topic is published correctly, and in RVIZ i see the correct octomap. Any idea what could be the problem? Thanks in advance.