Error: Rviz doesn't display the markers

Problem:Rviz is not displaying the markers

Solution:In rviz, select the topic for the markers you are trying to display. Select /handle_markers. This refreshes the topic so the markers will be published.

Error: It finds the wrong cabinet door

Problem:It detects the floor or table the cabinet is sitting on as the cabinet door.

Solution:This means the cabinet door is not the dominant plane in the point cloud. Readjust the robot head so that it is looking at more of the door.