Octomap not available in MoveIt

I want to represent my robots environment (available as a point cloud) as Octomap in MoveIt (ROS Kinetic) to make it available for collision checking. Therefore I mainly followed the Perception Pipeline Tutorial (http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/perception_pipeline/perception_pipeline_tutorial.html). Since I don't have an operating sensor I used a topic constantly publishing the point cloud. I created a pointcloud.yaml sensors: - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater point_cloud_topic: /fakesensor/pointcloud 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 And added this to my launch file: Starting RViz I can observe the point cloud I am publishing but there is no Octomap available. Any ideas what I am missing? I also tried to use the octomap_server. My .launch file looked like this: I don't get any errors. In RViz I can add by topic the PointCloud2 /octomap_point_cloud_centers and the Marker Array /occupied_cells_vis_array. However in both cases there is nothing displayed in RViz. As far as I can see the topics are communicating fine. /octomap_point_cloud_centers Point Cloud in RViz is receiving messages. Echoing the /octomap_point_cloud_centers the data seems to be empty. Thank you in advance for all ideas!